Low-cost AUV Swarm Localization Through Multimodal Underwater Acoustic Networks

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

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

3 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationGlobal Oceans 2020: Singapore – U.S. Gulf Coast
Number of pages7
Publication date9 Apr 2021
Article number9389467
ISBN (Print)978-1-7281-8409-8
ISBN (Electronic)978-1-7281-5446-6
Publication statusPublished - 9 Apr 2021
Event Global Oceans 2020: Singapore – U.S. Gulf Coast - Biloxi, United States
Duration: 5 Oct 202030 Oct 2020


Conference Global Oceans 2020: Singapore – U.S. Gulf Coast
Country/TerritoryUnited States
SeriesOCEANS - Proceedings


  • Bellhop ray-tracer
  • DESERT Underwater
  • Kalman filter
  • Underwater multimodal networks
  • WOSS


Dive into the research topics of 'Low-cost AUV Swarm Localization Through Multimodal Underwater Acoustic Networks'. Together they form a unique fingerprint.

Cite this