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Title: Asynchronous UKF-based localization of an underwater robotic vehicle for aquaculture inspection operations
Authors: Potyagaylo, Svetlana 
Constantinou, Christos C. 
Georgiades, George P. 
Loizou, Savvas 
Keywords: Benchmarking;Robotics;On-board sensors;Priori knowledge;Simulation benchmark;Underwater robotic vehicle;Underwater robots
Category: Mechanical Engineering
Field: Engineering and Technology
Issue Date: Feb-2016
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: MTS/IEEE Washington, OCEANS 2015; Washington; United States; 19 October 2015 through 22 October 2015
Abstract: This paper presents a methodology for localizing an autonomous tethered underwater robotic vehicle deployed for aquaculture inspection operations. The developed methodology is based on an Asynchronous Unscented Kalman Filer (UKF) to fuse information from onboard sensors along with a'priori knowledge about the aquaculture's geometry and the underwater robot's hydrodynamics. The performance of the proposed methodology is assessed through accuracy and consistency metrics generated from simulation benchmarks.
ISBN: 978-093395743-5
Rights: © 2015 MTS.
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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