Simultaneous wide area scan purpose AUV with tethered multi-agent (SWAN)

Roh, Hyunwoo; Joe, Hangil; Yu, Son-Cheol

doi:10.1109/auv.2016.7778712

Cited by 3 publications

(1 citation statement)

References 5 publications

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“…While there are so many significant challenges, AUV navigation and localization technologies have grown in leaps and bounds over more than half a century due to the need to remarkably expand the capabilities of AUVs. AUVs have been widely used in many underwater fields, especially petroleum engineering [4], underwater built environments, marine science research [5], and search and rescue [6][7][8].…”

Section: Introductionmentioning

confidence: 99%

A Novel Underwater Simultaneous Localization and Mapping Online Algorithm Based on Neural Network

Hou

Shao

Zou

et al. 2019

IJGI

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The navigation and localization of autonomous underwater vehicles (AUVs) in seawater are of the utmost importance for scientific research, petroleum engineering, search and rescue, and military missions concerning the special environment of seawater. However, there is still no general method for AUVs navigation and localization, especially in the featureless seabed. The reported approaches to solving AUVs navigation and localization problems employ an expensive inertial navigation system (INS), with cumulative errors and dead reckoning, and a high-cost long baseline (LBL) in a featureless subsea. In this study, a simultaneous localization and mapping (AMB-SLAM) online algorithm, based on acoustic and magnetic beacons, was proposed. The AMB-SLAM online algorithm is based on multiple randomly distributed beacons of low-frequency magnetic fields and a single fixed acoustic beacon for location and mapping. The experimental results show that the performance of the AMB-SLAM online algorithm has a high robustness. The proposed approach (the AMB-SLAM online algorithm) provides a low-complexity, low-cost, and high-precision online solution to the AUVs navigation and localization problem in featureless seawater environments. The AMB-SLAM online solution could enable AUVs to autonomously explore or autonomously intervene in featureless seawater environments, which would enable AUVs to accomplish fully autonomous survey missions.

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Section: Introductionmentioning

confidence: 99%

A Novel Underwater Simultaneous Localization and Mapping Online Algorithm Based on Neural Network

Hou

Shao

Zou

et al. 2019

IJGI

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Distributed cooperative neural control of a class of nonlinear multi‐agent systems with unknown time‐varying control coefficient

Wang

2021

Adaptive Control & Signal

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This article studies the leader-follower cooperative tracking problem of a class of multi-agent systems with unknown nonlinear dynamics. As the load of the following agent may be changing throughout the whole work process, we consider the control coefficient of the following agent to be time-varying and nonlinear instead of constant, which is more practical. All agents are connected by the directed communication graph with weighted topology. The followers can have unknown nonidentical nonlinear dynamics and external disturbances. The nonautonomous leader generates the reference trajectory for only part of the followers and others can only receive the information from their neighbors. To achieve the ultimate synchronization of all following agents to the leader, the novel cooperative adaptive control protocols are designed based on the neural approximation and adaptive updating mechanism. A novel singularity-avoided adaptive updating law is proposed to estimate the control coefficient and compensate for the unknown dynamics online. Lyapunov theory is used to prove the ultimate boundedness of the synchronization tracking error. The correctness and effectiveness of the presented control scheme are demonstrated by two simulations in SISO and MIMO cases, respectively.

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Trajectory Tracking for Underwater Rescue Salvage Based on Backstepping Control

Zhang

et al. 2019

2019 Chinese Control Conference (CCC)

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Simultaneous wide area scan purpose AUV with tethered multi-agent (SWAN)

Cited by 3 publications

References 5 publications

A Novel Underwater Simultaneous Localization and Mapping Online Algorithm Based on Neural Network

A Novel Underwater Simultaneous Localization and Mapping Online Algorithm Based on Neural Network

Distributed cooperative neural control of a class of nonlinear multi‐agent systems with unknown time‐varying control coefficient

Trajectory Tracking for Underwater Rescue Salvage Based on Backstepping Control

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