Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
156 tokens/sec
GPT-4o
7 tokens/sec
Gemini 2.5 Pro Pro
45 tokens/sec
o3 Pro
4 tokens/sec
GPT-4.1 Pro
38 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

Cooperative Localization for Autonomous Underwater Vehicles -- a comprehensive review (2307.06189v1)

Published 12 Jul 2023 in eess.SY and cs.SY

Abstract: Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization techniques based on radio frequency or optics are suitable due to severe attenuation. Given the large swaths of oceans and seas where autonomous underwater vehicles (AUVs) operate, traditional acoustic positioning systems fall short on many counts. Cooperative localization (CL), which involves sharing mutual information amongst the vehicles, has thus emerged as a viable option in the past decade. This paper assimilates the research carried out in AUV cooperative localization and presents a qualitative overview. The cooperative localization approaches are categorized by their cooperation and localization strategies, while the algorithms employed are reviewed on the various challenges posed by the underwater acoustic channel and environment. Furthermore, existing problems and future scope in the domain of underwater cooperative localization are discussed.

Definition Search Book Streamline Icon: https://streamlinehq.com
References (140)
  1. M. E. Furlong, D. Paxton, P. Stevenson, M. Pebody, S. D. McPhail, and J. Perrett, “Autosub long range: A long range deep diving auv for ocean monitoring,” in 2012 IEEE/OES Autonomous Underwater Vehicles (AUV), 2012, pp. 1–7.
  2. X. Yun, E. R. Bachmann, R. B. McGhee, R. H. Whalen, R. L. Roberts, R. G. Knapp, A. J. Healey, and M. J. Zyda, “Testing and evaluation of an integrated gps/ins system for small auv navigation,” IEEE Journal of Oceanic Engineering, vol. 24, no. 3, pp. 396–404, 1999.
  3. H.-P. Tan, R. Diamant, W. K. G. Seah, and M. Waldmeyer, “A survey of techniques and challenges in underwater localization,” Ocean Engineering, vol. 38, no. 14, pp. 1663 – 1676, 2011. [Online]. Available: http://www.sciencedirect.com/science/article/pii/S0029801811001624
  4. R. M. Eustice, L. L. Whitcomb, H. Singh, and M. Grund, “Recent advances in synchronous-clock one-way-travel-time acoustic navigation,” in OCEANS 2006, 2006, pp. 1–6.
  5. M. Emami and M. R. Taban, “A low complexity integrated navigation system for underwater vehicles,” Journal of Navigation, vol. 71, no. 5, p. 1161–1177, 2018.
  6. L. L. Whitcomb, D. R. Yoerger, H. Singh, and J. Howland, “Combined doppler/lbl based navigation of underwater vehicles,” in Proceedings of the 11th international symposium on unmanned untethered submersible technology, 1999, pp. 1–7.
  7. J. C. Kinsey, R. M. Eustice, and L. L. Whitcomb, “A survey of underwater vehicle navigation: Recent advances and new challenges,” Proc. Conf. Manoeuvering Control Marine Craft, p. 12, 2006.
  8. K. G. Kebkal and A. I. Mashoshin, “AUV acoustic positioning methods,” Gyroscopy and Navigation, vol. 8, no. 1, pp. 80–89, Jan. 2017. [Online]. Available: http://link.springer.com/10.1134/S2075108717010059
  9. L. Paull, S. Saeedi, M. Seto, and H. Li, “Auv navigation and localization: A review,” IEEE Journal of Oceanic Engineering, vol. 39, no. 1, pp. 131–149, 2014.
  10. J. González-García, A. Gómez-Espinosa, E. Cuan-Urquizo, L. G. García-Valdovinos, T. Salgado-Jiménez, and J. A. E. Cabello, “Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions,” Applied Sciences, vol. 10, no. 4, p. 1256, Feb. 2020. [Online]. Available: https://www.mdpi.com/2076-3417/10/4/1256
  11. I. Masmitja, S. Gomariz, J. Del-Rio, B. Kieft, T. O’Reilly, P. Bouvet, and J. Aguzzi, “Range-only single-beacon tracking of underwater targets from an autonomous vehicle: From theory to practice,” IEEE Access, vol. 7, pp. 86 946–86 963, 2019.
  12. J. A. Catipovic, “Performance limitations in underwater acoustic telemetry,” IEEE Journal of Oceanic Engineering, vol. 15, no. 3, pp. 205–216, 1990.
  13. Jun-Hong Cui, Jiejun Kong, M. Gerla, and Shengli Zhou, “The challenges of building mobile underwater wireless networks for aquatic applications,” IEEE Network, vol. 20, no. 3, pp. 12–18, 2006.
  14. X. Bo, A. Razzaqi, and X. Wang, “Optimal Sensor Formation for 3D Cooperative Localization of AUVs Using Time Difference of Arrival (TDOA) Method,” Sensors, vol. 18, no. 12, p. 4442, Dec. 2018. [Online]. Available: http://www.mdpi.com/1424-8220/18/12/4442
  15. W. Yan, W. Chen, and R. Cui, “Moving long baseline positioning algorithm with uncertain sound speed,” Journal of Mechanical Science and Technology, vol. 29, no. 9, pp. 3995–4002, Sep. 2015. [Online]. Available: http://link.springer.com/10.1007/s12206-015-0845-z
  16. H. Ramezani, H. Jamali-Rad, and G. Leus, “Target localization and tracking for an isogradient sound speed profile,” IEEE Transactions on Signal Processing, vol. 61, no. 6, pp. 1434–1446, 2013.
  17. S. E. Webster, R. M. Eustice, H. Singh, and L. L. Whitcomb, “Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles,” The International Journal of Robotics Research, vol. 31, no. 8, pp. 935–950, 2012. [Online]. Available: https://doi.org/10.1177/0278364912446166
  18. Yuantao Qi, Bo Wang, Shunting Wang, and Mengyin Fu, “Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements,” in 2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC), 2016, pp. 295–299.
  19. M. J. Stanway, “Delayed-state sigma point kalman filters for underwater navigation,” in 2010 IEEE/OES Autonomous Underwater Vehicles, 2010, pp. 1–9.
  20. J. Vaganay, J. J. Leonard, and J. G. Bellingham, “Outlier rejection for autonomous acoustic navigation,” in Proceedings of IEEE International Conference on Robotics and Automation, vol. 3, 1996, pp. 2174–2181 vol.3.
  21. H. D. . EvoLogics. (15- Jun- 2020) Evologics gmbh, 2020. [online]. [Online]. Available: https://evologics.de/acoustic-modem/hs
  22. E. Olson, J. J. Leonard, and S. Teller, “Robust range-only beacon localization,” IEEE Journal of Oceanic Engineering, vol. 31, no. 4, pp. 949–958, 2006.
  23. L. Paull, M. Seto, and J. J. Leonard, “Decentralized cooperative trajectory estimation for autonomous underwater vehicles,” in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 184–191.
  24. Y. Yang, Y. Xiao, and T. Li, “A survey of autonomous underwater vehicle formation: Performance, formation control, and communication capability,” IEEE Communications Surveys Tutorials, vol. 23, no. 2, pp. 815–841, 2021.
  25. F. Hidalgo and T. Braunl, “Review of underwater slam techniques,” in Proceedings of the 6th International Conference on Automation, Robotics and Applications, vol. I.   United States: IEEE, Institute of Electrical and Electronics Engineers, 2015, pp. 306–311.
  26. W. Zhao, T. He, A. Y. M. Sani, and T. Yao, “Review of slam techniques for autonomous underwater vehicles,” in Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence, ser. RICAI 2019.   New York, NY, USA: Association for Computing Machinery, 2019, p. 384–389. [Online]. Available: https://doi.org/10.1145/3366194.3366262
  27. L. Paull, G. Huang, M. Seto, and J. J. Leonard, “Communication-constrained multi-auv cooperative slam,” in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 509–516.
  28. M. Walter and J. Leonard, “An experimental investigation of cooperative slam,” IFAC Proceedings Volumes, vol. 37, no. 8, pp. 880 – 885, 2004, iFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 5-7 July 2004. [Online]. Available: http://www.sciencedirect.com/science/article/pii/S1474667017320918
  29. A. J. Rashidi and S. Mohammadloo, “Simultaneous cooperative localization for auvs using range-only sensors,” International Journal of Information Acquisition, vol. 8, no. 02, pp. 117–132, 2011.
  30. B. Q. Ferreira, J. Gomes, C. Soares, and J. P. Costeira, “Collaborative localization of vehicle formations based on ranges and bearings,” in 2016 IEEE Third Underwater Communications and Networking Conference (UComms), 2016, pp. 1–5.
  31. X. Bo, A. A. Razzaqi, and G. Farid, “A Review on Optimal Placement of Sensors for Cooperative Localization of AUVs,” Journal of Sensors, vol. 2019, pp. 1–12, Jul. 2019. [Online]. Available: https://www.hindawi.com/journals/js/2019/4276987/
  32. X. Su, I. Ullah, X. Liu, and D. Choi, “A Review of Underwater Localization Techniques, Algorithms, and Challenges,” Journal of Sensors, vol. 2020, pp. 1–24, Jan. 2020. [Online]. Available: https://www.hindawi.com/journals/js/2020/6403161/
  33. D. De Palma, G. Indiveri, and G. Parlangeli, “Multi-vehicle relative localization based on single range measurements,” IFAC-PapersOnLine, vol. 48, no. 5, pp. 17–22, 2015.
  34. J. Aparicio and T. Shimura, “Ofdma communication system for cooperative localization of underwater vehicles,” in 2017 IEEE 18th International Workshop on Signal Processing Advances in Wireless Communications (SPAWC), 2017, pp. 1–5.
  35. Z. Song and K. Mohseni, “Cooperative mid-depth navigation aided by ocean current prediction,” in OCEANS 2017 - Anchorage, 2017, pp. 1–8.
  36. S. I. Roumeliotis and G. A. Bekey, “Distributed multirobot localization,” IEEE Transactions on Robotics and Automation, vol. 18, no. 5, pp. 781–795, 2002.
  37. A. I. Mourikis and S. I. Roumeliotis, “Performance analysis of multirobot cooperative localization,” IEEE Transactions on Robotics, vol. 22, no. 4, pp. 666–681, 2006.
  38. H.-P. Tan, R. Diamant, W. K. Seah, and M. Waldmeyer, “A survey of techniques and challenges in underwater localization,” Ocean Engineering, vol. 38, no. 14, pp. 1663 – 1676, 2011. [Online]. Available: http://www.sciencedirect.com/science/article/pii/S0029801811001624
  39. A. Matos and N. Cruz, “AUV navigation and guidance in a moving acoustic network,” in Europe Oceans 2005.   Brest, France: IEEE, 2005, pp. 680–685 Vol. 1. [Online]. Available: http://ieeexplore.ieee.org/document/1511796/
  40. J. C. Hartsfield, “Single Transponder Range Only Navigation Geometry (STRONG) applied to REMUS autonomous under water vehicles,” Ph.D. dissertation, Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, Woods Hole, MA, 2005. [Online]. Available: https://hdl.handle.net/1912/1637
  41. S. D. McPhail and M. Pebody, “Range-only positioning of a deep-diving autonomous underwater vehicle from a surface ship,” IEEE Journal of Oceanic Engineering, vol. 34, no. 4, pp. 669–677, 2009.
  42. Z. Qiang and Z. Wen, “Range-only navigation algorithm for positioning of deep-diving auv,” in 2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 2017, pp. 243–248.
  43. A. Folk, B. Armstrong, E. Wolbrecht, H. F. Grip, M. Anderson, and D. Edwards, “Autonomous underwater vehicle navigation using moving baseline on a target ship,” in OCEANS 2010 MTS/IEEE SEATTLE, 2010, pp. 1–7.
  44. R. M. Eustice, H. Singh, and L. L. Whitcomb, “Synchronous-clock, one-way-travel-time acoustic navigation for underwater vehicles,” Journal of Field Robotics, vol. 28, no. 1, pp. 121–136, 2011. [Online]. Available: https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.20365
  45. S. E. Webster, J. M. Walls, L. L. Whitcomb, and R. M. Eustice, “Decentralized extended information filter for single-beacon cooperative acoustic navigation: Theory and experiments,” IEEE Transactions on Robotics, vol. 29, no. 4, pp. 957–974, 2013.
  46. A. Bahr, J. J. Leonard, and M. F. Fallon, “Cooperative localization for autonomous underwater vehicles,” The International Journal of Robotics Research, vol. 28, no. 6, pp. 714–728, 2009.
  47. B. Allotta, R. Costanzi, E. Meli, L. Pugi, A. Ridolfi, and G. Vettori, “Cooperative localization of a team of auvs by a tetrahedral configuration,” Robot. Auton. Syst., vol. 62, no. 8, p. 1228–1237, Aug. 2014. [Online]. Available: https://doi.org/10.1016/j.robot.2014.03.004
  48. Z. J. Harris and L. L. Whitcomb, “Preliminary study of cooperative navigation of underwater vehicles without a dvl utilizing range and range-rate observations,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 2618–2624.
  49. ——, “Preliminary evaluation of cooperative navigation of underwater vehicles without a dvl utilizing a dynamic process model,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 4897–4904.
  50. R. Costanzi, D. Fenucci, A. Caiti, M. Micheli, A. Vermeij, A. Tesei, and A. Munafò, “Estimation filtering for deep water navigation,” IFAC-PapersOnLine, vol. 51, no. 29, pp. 299–304, 2018.
  51. C. R. German, M. V. Jakuba, J. C. Kinsey, J. Partan, S. Suman, A. Belani, and D. R. Yoerger, “A long term vision for long-range ship-free deep ocean operations: Persistent presence through coordination of autonomous surface vehicles and autonomous underwater vehicles,” in 2012 IEEE/OES Autonomous Underwater Vehicles (AUV), 2012, pp. 1–7.
  52. J. Kalwa, D. Tietjen, M. Carreiro-Silva, J. Fontes, L. Brignone, N. Gracias, P. Ridao, M. Pfingsthorn, A. Birk, T. Glotzbach, S. Eckstein, M. Caccia, J. Alves, T. Furfaro, J. Ribeiro, and A. Pascoal, “The european project morph: Distributed uuv systems for multimodal, 3d underwater surveys,” Marine Technology Society Journal, vol. 50, no. 4, pp. 26–41, 2016.
  53. Z. Liu, Y. Zhang, X. Yu, and C. Yuan, “Unmanned surface vehicles: An overview of developments and challenges,” Annual Reviews in Control, vol. 41, pp. 71 – 93, 2016. [Online]. Available: http://www.sciencedirect.com/science/article/pii/S1367578816300219
  54. M. F. Fallon, G. Papadopoulos, and J. J. Leonard, “Cooperative auv navigation using a single surface craft,” in Field and service robotics.   Springer, 2010, pp. 331–340.
  55. A. P. Scherbatyuk and F. S. Dubrovin, “Some algorithms of auv positioning based on one moving beacon,” IFAC Proceedings Volumes, vol. 45, no. 5, pp. 1 – 6, 2012, 3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles. [Online]. Available: http://www.sciencedirect.com/science/article/pii/S1474667016305717
  56. M. Zhou, R. Bachmayer, and B. de Young, “Underwater acoustic-based navigation towards multi-vehicle operation and adaptive oceanographic sampling,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp. 6091–6097.
  57. W. Gao, Y. Liu, and B. Xu, “Robust huber-based iterated divided difference filtering with application to cooperative localization of autonomous underwater vehicles,” Sensors, vol. 14, no. 12, pp. 24 523–24 542, 2014.
  58. D. Wu, Z. Yan, and T. Chen, “Cooperative current estimation based multi-auvs localization for deep ocean applications,” Ocean Engineering, vol. 188, p. 106148, 2019.
  59. S. Wang, L. Chen, D. Gu, and H. Hu, “Cooperative localization of auvs using moving horizon estimation,” IEEE/CAA Journal of Automatica Sinica, vol. 1, no. 1, pp. 68–76, 2014.
  60. A. Gatsenko, F. Dubrovin, and A. Scherbatyuk, “Comparing some algorithms for auv single beacon mobile navigation,” in 2014 Oceans - St. John’s, 2014, pp. 1–5.
  61. F. S. Dubrovin and A. F. Scherbatyuk, “Studying some algorithms for AUV navigation using a single beacon: The results of simulation and sea trials,” Gyroscopy and Navigation, vol. 7, no. 2, pp. 189–196, Apr. 2016. [Online]. Available: http://link.springer.com/10.1134/S2075108716020024
  62. M. F. Fallon, G. Papadopoulos, J. J. Leonard, and N. M. Patrikalakis, “Cooperative auv navigation using a single maneuvering surface craft,” The International Journal of Robotics Research, vol. 29, no. 12, pp. 1461–1474, 2010.
  63. B. Claus, J. H. Kepper IV, S. Suman, and J. C. Kinsey, “Closed-loop one-way-travel-time navigation using low-grade odometry for autonomous underwater vehicles,” Journal of Field Robotics, vol. 35, no. 4, pp. 421–434, 2018.
  64. J. H. Kepper, B. C. Claus, and J. C. Kinsey, “A navigation solution using a mems imu, model-based dead-reckoning, and one-way-travel-time acoustic range measurements for autonomous underwater vehicles,” IEEE Journal of Oceanic Engineering, vol. 44, no. 3, pp. 664–682, 2019.
  65. N. Sergeenko, A. Scherbatyuk, and F. Dubrovin, “Some algorithms of cooperative auv navigation with mobile surface beacon,” in 2013 OCEANS - San Diego, 2013, pp. 1–6.
  66. M. Chitre, “Path planning for cooperative underwater range-only navigation using a single beacon,” in 2010 International Conference on Autonomous and Intelligent Systems, AIS 2010, 2010, pp. 1–6.
  67. A. S. Gadre and D. J. Stilwell, “Toward underwater navigation based on range measurements from a single location,” in IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA ’04. 2004, vol. 5, 2004, pp. 4472–4477 Vol.5.
  68. ——, “A complete solution to underwater navigation in the presence of unknown currents based on range measurements from a single location,” in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp. 1420–1425.
  69. P. Batista, C. Silvestre, and P. Oliveira, “Single range aided navigation and source localization: Observability and filter design,” Systems & Control Letters, vol. 60, no. 8, pp. 665–673, 2011.
  70. T. Y. Teck and M. Chitre, “Single beacon cooperative path planning using cross-entropy method,” in OCEANS’11 MTS/IEEE KONA, 2011, pp. 1–6.
  71. Y. T. Tan, R. Gao, and M. Chitre, “Cooperative path planning for range-only localization using a single moving beacon,” IEEE Journal of Oceanic Engineering, vol. 39, no. 2, pp. 371–385, 2014.
  72. T. Y. Teck and M. Chitre, “Direct policy search with variable-length genetic algorithm for single beacon cooperative path planning,” in Distributed Autonomous Robotic Systems.   Springer, 2014, pp. 321–336.
  73. M. L. Seto, J. A. Hudson, and Y. Pan, “Three-Dimensional Path-Planning for a Communications and Navigation Aid Working Cooperatively with Autonomous Underwater Vehicles,” in Autonomous and Intelligent Systems, M. Kamel, F. Karray, W. Gueaieb, and A. Khamis, Eds.   Berlin, Heidelberg: Springer Berlin Heidelberg, 2011, pp. 51–62.
  74. J. Hudson and M. L. Seto, “Underway path-planning for an unmanned surface vehicle performing cooperative navigation for uuvs at varying depths,” in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 2298–2305.
  75. J. D. Quenzer and K. A. Morgansen, “Observability based control in range-only underwater vehicle localization,” in 2014 American Control Conference, 2014, pp. 4702–4707.
  76. J. M. Walls and R. M. Eustice, “Toward informative planning for cooperative underwater localization,” in 2014 Oceans - St. John’s, 2014, pp. 1–7.
  77. J. P. Sousa, B. M. Ferreira, and N. A. Cruz, “Guidance of an autonomous surface vehicle for underwater navigation aid,” in 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), 2018, pp. 1–6.
  78. F. Mandić, N. Mišković, and Z. Vukić, “Range–only navigation–maximizing system observability by using extremum seeking,” IFAC-PapersOnLine, vol. 48, no. 16, pp. 101–106, 2015.
  79. F. Mandić, N. Mišković, N. Palomeras, M. Carreras, and G. Vallicrosa, “Mobile beacon control algorithm that ensures observability in single range navigation,” IFAC-PapersOnLine, vol. 49, no. 23, pp. 48–53, 2016.
  80. J. S. Willners, L. Toohey, and Y. Petillot, “Sampling-based path planning for cooperative autonomous maritime vehicles to reduce uncertainty in range-only localization,” IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3987–3994, 2019.
  81. S. Rúa, N. Crasta, R. E. Vásquez, M. J. Betancur, and A. M. Pascoal, “Cooperative range-based navigation using a beacon with circular motion installed on board the support platform,” IFAC-PapersOnLine, vol. 52, no. 21, pp. 390–395, 2019.
  82. S. Rúa, N. Crasta, R. E. Vásquez, and A. M. Pascoal, “Enhanced cooperative single-range underwater navigation based on optimal trajectories,” IFAC-PapersOnLine, vol. 53, no. 2, pp. 14 668–14 673, 2020.
  83. G. Papadopoulos, M. F. Fallon, J. J. Leonard, and N. M. Patrikalakis, “Cooperative localization of marine vehicles using nonlinear state estimation,” in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 4874–4879.
  84. D. Viegas, P. Batista, P. Oliveira, and C. Silvestre, “Position and velocity filters for intervention auvs based on single range and depth measurements,” in 2012 IEEE International Conference on Robotics and Automation, 2012, pp. 4878–4883.
  85. D. Viegas, P. Batista, P. Oliveira, and C. Silvestre, “Position and velocity filters for asc/i-auv tandems based on single range measurements,” Journal of Intelligent & Robotic Systems, vol. 74, no. 3-4, pp. 745–768, 2014.
  86. A. Meira, A. P. Aguiar, and A. Pascoal, “Cooperative Navigation of Multiple Autonomous Underwater Vehicles with Logic Based Communication,” Ph.D. dissertation, Instituto Superior Técnico, 2011., Portugal, 2011.
  87. J. S. Willners, L. Toohey, and Y. Petillot, “Improving acoustic range-only localisation by selection of transmission time,” in OCEANS 2019 - Marseille, 2019, pp. 1–6.
  88. T. Glotzbach, S. Eckstein, and C. Ament, “Cooperative navigation in a team of marine robots for a specific ocean mapping mission,” at - Automatisierungstechnik, vol. 63, no. 5, pp. 344 – 354, 28 May. 2015. [Online]. Available: https://www.degruyter.com/view/journals/auto/63/5/article-p344.xml
  89. M. V. Jakuba, J. C. Kinsey, J. W. Partan, and S. E. Webster, “Feasibility of low-power one-way travel-time inverted ultra-short baseline navigation,” in OCEANS 2015 - MTS/IEEE Washington, 2015, pp. 1–10.
  90. T. Glotzbach, A.-M. Grebner, and C. Ament, “Acoustic based navigation of cooperative marine robots with advanced filter techniques,” IFAC-PapersOnLine, vol. 49, no. 23, pp. 335–340, 2016.
  91. G. Salavasidis, C. A. Harris, E. Rogers, and A. B. Phillips, “Co-operative use of marine autonomous systems to enhance navigational accuracy of autonomous underwater vehicles,” in Annual Conference Towards Autonomous Robotic Systems.   Springer, 2016, pp. 275–281.
  92. A. B. Phillips, G. Salavasidis, M. Kingsland, C. Harris, M. Pebody, D. R. R. Templeton, S. McPhail, T. Prampart, T. Wood, R. Taylor et al., “Autonomous surface/subsurface survey system field trials,” in 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV).   IEEE, 2018, pp. 1–6.
  93. M. Franchi, A. Bucci, L. Zacchini, A. Ridolfi, M. Bresciani, G. Peralta, and R. Costanzi, “Maximum a posteriori estimation for auv localization with usbl measurements,” IFAC-PapersOnLine, vol. 54, no. 16, pp. 307–313, 2021.
  94. D. Nad, M. Ribeiro, H. Silva, J. Ribeiro, P. Abreu, N. Miskovic, and A. Pascoal, “Cooperative surface/underwater navigation for auv path following missions,” IFAC-PapersOnLine, vol. 49, no. 23, pp. 355–360, 2016.
  95. L. Zhang, D. Wu, R. Ren, and R. Xing, “Cooperative path planning for single leader using q-learning method,” in Global Oceans 2020: Singapore–US Gulf Coast.   IEEE, 2020, pp. 1–6.
  96. J. Curcio, J. Leonard, J. Vaganay, A. Patrikalakis, A. Bahr, D. Battle, H. Schmidt, and M. Grund, “Experiments in moving baseline navigation using autonomous surface craft,” in Proceedings of OCEANS 2005 MTS/IEEE.   IEEE, 2005, pp. 730–735.
  97. T. Glotzbach, M. Bayat, A. P. Aguiar, and A. Pascoal, “An underwater acoustic localisation system for assisted human diving operations,” IFAC Proceedings Volumes, vol. 45, no. 27, pp. 206–211, 2012.
  98. W. Chen, W. Yan, and R. Cui, “Moving horizon estimation for moving long baseline based on linear positioning model,” IFAC-PapersOnLine, vol. 49, no. 5, pp. 115–119, 2016.
  99. R. P. Vio, R. Cristi, and K. B. Smith, “Uuv localization using acoustic communications, networking, and a priori knowledge of the ocean current,” in OCEANS 2017 - Aberdeen, 2017, pp. 1–7.
  100. N. Crasta, D. Moreno-Salinas, A. Pascoal, and J. Aranda, “Range-based cooperative underwater target localization,” IFAC-PapersOnLine, vol. 50, no. 1, pp. 12 366–12 373, 2017.
  101. N. Crasta, D. Moreno-Salinas, A. M. Pascoal, and J. Aranda, “Multiple autonomous surface vehicle motion planning for cooperative range-based underwater target localization,” Annual Reviews in Control, vol. 46, pp. 326–342, 2018.
  102. A. Quraishi, A. Bahr, F. Schill, and A. Martinoli, “A flexible navigation support system for a team of underwater robots,” in 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS).   IEEE, 2019, pp. 70–75.
  103. M. Bai, Y. Huang, Y. Zhang, and F. Chen, “A novel heavy-tailed mixture distribution based robust kalman filter for cooperative localization,” IEEE Transactions on Industrial Informatics, vol. 17, no. 5, pp. 3671–3681, 2020.
  104. J. Vaganay, J. J. Leonard, J. A. Curcio, and J. S. Willcox, “Experimental validation of the moving long base-line navigation concept,” in 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No. 04CH37578).   IEEE, 2004, pp. 59–65.
  105. W. Yan, W. Chen, and R. Cui, “Moving long baseline positioning algorithm with uncertain sound speed,” Journal of Mechanical Science and Technology, vol. 29, no. 9, pp. 3995–4002, 2015.
  106. W. Yan, W. Chen, R. Cui, and H. Li, “Optimal distance between mobile buoy and target for moving long baseline positioning system,” The Journal of Navigation, vol. 68, no. 4, pp. 809–826, 2015.
  107. W. Chen, W. Yan, R. Cui, and H. Cui, “Optimal configuration of usvs for moving long baseline positioning system,” in 2016 International Conference on Advanced Robotics and Mechatronics (ICARM).   IEEE, 2016, pp. 394–398.
  108. H. Singh, J. Catipovic, R. Eastwood, L. Freitag, H. Henriksen, F. Hover, D. Yoerger, J. G. Bellingham, and B. A. Moran, “An integrated approach to multiple auv communications, navigation and docking,” in OCEANS 96 MTS/IEEE Conference Proceedings. The Coastal Ocean-Prospects for the 21st Century, vol. 1.   IEEE, 1996, pp. 59–64.
  109. P. Baccou, B. Jouvencel, V. Creuze, and C. Rabaud, “Cooperative positioning and navigation for multiple auv operations,” in MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No. 01CH37295), vol. 3.   IEEE, 2001, pp. 1816–1821.
  110. Yao Yao, Demin Xu, and Weisheng Yan, “Cooperative localization with communication delays for mauvs,” in 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems, vol. 1, 2009, pp. 244–249.
  111. Z. Song and K. Mohseni, “Cooperative underwater localization in ocean currents,” in AIAA Guidance, Navigation, and Control (GNC) Conference, 2013, p. 5111.
  112. Z. Song and K. Mohseni, “Hierarchical underwater localization in dominating background flow fields,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, pp. 3356–3361.
  113. ——, “A distributed localization hierarchy for an auv swarm,” in 2014 American Control Conference, 2014, pp. 4721–4726.
  114. J. M. Walls and R. M. Eustice, “An origin state method for communication constrained cooperative localization with robustness to packet loss,” The International Journal of Robotics Research, vol. 33, no. 9, pp. 1191–1208, 2014.
  115. J. M. Walls, A. G. Cunningham, and R. M. Eustice, “Cooperative localization by factor composition over a faulty low-bandwidth communication channel,” in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 401–408.
  116. Y. Ben, Y. Sun, Q. Li, and X. Zang, “A novel cooperative navigation algorithm based on factor graph with cycles for auvs,” Ocean Engineering, vol. 241, p. 110024, 2021.
  117. L.-c. Zhang, J. Wang, W. Tonghao, M. Liu, and J. Gao, “Optimal formation of multiple auvs cooperative localization based on virtual structure,” in OCEANS 2016 MTS/IEEE Monterey.   IEEE, 2016, pp. 1–6.
  118. Q. Chen, K. You, and S. Song, “Cooperative localization for autonomous underwater vehicles using parallel projection,” in 2017 13th IEEE International Conference on Control Automation (ICCA), 2017, pp. 788–793.
  119. L. Zhang, Y. Li, L. Liu, and X. Tao, “Cooperative navigation based on cross entropy: Dual leaders,” IEEE Access, vol. 7, pp. 151 378–151 388, 2019.
  120. J. Kim, “Cooperative localization and unknown currents estimation using multiple autonomous underwater vehicles,” IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2365–2371, 2020.
  121. Z. Yan, L. Wang, T. Wang, Z. Yang, T. Chen, and J. Xu, “Polar cooperative navigation algorithm for multi-unmanned underwater vehicles considering communication delays,” Sensors, vol. 18, no. 4, p. 1044, 2018.
  122. M. Borges Nogueira, J. B. Sousa, and F. L. Pereira, “Cooperative autonomous underwater vehicle localization,” in OCEANS’10 IEEE SYDNEY, 2010, pp. 1–9.
  123. M. Nogueira, J. Souza, and F. Pereira, “An underwater cooperative navigation scheme,” in 2013 MTS/IEEE OCEANS - Bergen, 2013, pp. 1–7.
  124. G. Xiao, B. Wang, Z. Deng, M. Fu, and Y. Ling, “An acoustic communication time delays compensation approach for master–slave auv cooperative navigation,” IEEE Sensors Journal, vol. 17, no. 2, pp. 504–513, 2017.
  125. Y. Qi, B. Wang, S. Wang, and M. Fu, “Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements,” in 2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC).   IEEE, 2016, pp. 295–299.
  126. L. Zhang, T. Wang, F. Zhang, and D. Xu, “Cooperative localization for multi-auvs based on gm-phd filters and information entropy theory,” Sensors, vol. 17, no. 10, p. 2286, 2017.
  127. W. Gao, Y. Liu, B. Xu, and Y. Che, “An improved cooperative localization method for multiple autonomous underwater vehicles based on acoustic round-trip ranging,” in 2014 IEEE/ION Position, Location and Navigation Symposium-PLANS 2014.   IEEE, 2014, pp. 1420–1423.
  128. Z. Lichuan, F. Jingxiang, W. Tonghao, G. Jian, and Z. Ru, “A new algorithm for collaborative navigation without time synchronization of multi-uuvs,” in OCEANS 2017 - Aberdeen, 2017, pp. 1–6.
  129. J. Qu, X. Li, and G. Sun, “Optimal formation configuration analysis for cooperative localization system of multi-auv,” IEEE Access, vol. 9, pp. 90 702–90 714, 2021.
  130. X. Bo, A. A. Razzaqi, X. Wang, and G. Farid, “Optimal geometric configuration of sensors for received signal strength based cooperative localization of submerged auvs,” Ocean Engineering, vol. 214, p. 107785, 2020.
  131. Y. Fan, Y. Zhang, G. Wang, X. Wang, and N. Li, “Maximum correntropy based unscented particle filter for cooperative navigation with heavy-tailed measurement noises,” Sensors, vol. 18, no. 10, p. 3183, 2018.
  132. Y. Huang, Y. Zhang, B. Xu, Z. Wu, and J. A. Chambers, “A new adaptive extended kalman filter for cooperative localization,” IEEE Transactions on Aerospace and Electronic Systems, vol. 54, no. 1, pp. 353–368, 2018.
  133. Y. Zhao, W. Xing, H. Yuan, and P. Shi, “A collaborative control framework with multi-leaders for auvs based on unscented particle filter,” Journal of the Franklin Institute, vol. 353, no. 3, pp. 657–669, 2016.
  134. Q. Li, Y. Ben, S. M. Naqvi, J. A. Neasham, and J. A. Chambers, “Robust student’s t𝑡titalic_t -based cooperative navigation for autonomous underwater vehicles,” IEEE Transactions on Instrumentation and Measurement, vol. 67, no. 8, pp. 1762–1777, 2018.
  135. B. Xu, S. Li, A. A. Razzaqi, and J. Zhang, “Cooperative localization in harsh underwater environment based on the mc-anfis,” IEEE Access, vol. 7, pp. 55 407–55 421, 2019.
  136. S. Li, B. Xu, L. Wang, and A. A. Razzaqi, “Improved maximum correntropy cubature kalman filter for cooperative localization,” IEEE Sensors Journal, vol. 20, no. 22, pp. 13 585–13 595, 2020.
  137. B. Xu, S. Li, A. A. Razzaqi, Y. Guo, and L. Wang, “A novel measurement information anomaly detection method for cooperative localization,” IEEE Transactions on Instrumentation and Measurement, vol. 70, pp. 1–18, 2021.
  138. B. Xu, Y. Guo, L. Wang, and J. Zhang, “A novel robust gaussian approximate smoother based on em for cooperative localization with sensor fault and outliers,” IEEE Transactions on Instrumentation and Measurement, vol. 70, pp. 1–14, 2020.
  139. G. Rui and M. Chitre, “Cooperative positioning using range-only measurements between two auvs,” in OCEANS’10 IEEE SYDNEY.   IEEE, 2010, pp. 1–6.
  140. A. Bahr, J. J. Leonard, and A. Martinoli, “Dynamic positioning of beacon vehicles for cooperative underwater navigation,” in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.   IEEE, 2012, pp. 3760–3767.

Summary

We haven't generated a summary for this paper yet.

Ai Sparkles Streamline Icon: https://streamlinehq.com Summarize Now