Low-cost AUV Swarm Localization Through Multimodal Underwater Acoustic Networks

Federico Mason, Federico Chiariotti, Filippo Campagnaro, Andrea Zanella, Michele Zorzi

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1 Citationer (Scopus)

Abstrakt

The use of swarms of Autonomous Underwater Vehicles (AUVs) for environmental monitoring operations could provide important data about pollution, but is currently limited by the high costs of the AUVs and their communication equipment. In this work, we design a system that exploits a multimodal network, composed by both USBL low-frequency and low-cost high frequency acoustic modems, at a much lower cost than standard single mode deployments, and uses distributed sensing and communication-based ranging to perform the localization of an AUV swarm. Our system is able to maintain a positioning error below 13 m over long time periods in different operational scenarios, at a fraction of the cost of the single mode system, and concentrating all the expensive equipment in the leader AUV.

OriginalsprogEngelsk
TitelGlobal Oceans 2020: Singapore – U.S. Gulf Coast
Antal sider7
ForlagIEEE
Publikationsdato9 apr. 2021
Artikelnummer9389467
ISBN (Trykt)978-1-7281-8409-8
ISBN (Elektronisk)978-1-7281-5446-6
DOI
StatusUdgivet - 9 apr. 2021
Begivenhed Global Oceans 2020: Singapore – U.S. Gulf Coast - Biloxi, USA
Varighed: 5 okt. 202030 okt. 2020

Konference

Konference Global Oceans 2020: Singapore – U.S. Gulf Coast
LandUSA
ByBiloxi
Periode05/10/202030/10/2020

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