DocumentCode
3394874
Title
Decentralised Simultaneous Localisation and Mapping for AUVs
Author
Diosdado, Jose Vazquez ; Ruiz, Joseba Tena
fYear
2007
fDate
18-21 June 2007
Firstpage
1
Lastpage
6
Abstract
This paper presents a novel decentralised architecture for simultaneous localization and mapping using multiple vehicles. The architecture is tailored for underwater environments with limited bandwidth and infrequent communications. The maps are represented using the information form of the EKF. In this form the update of information is an additive process; as a result, incremental new information can be integrated across different vehicles with arbitrary network latencies. Our experimental results show the effectiveness of the architecture.
Keywords
Kalman filters; navigation; oceanographic techniques; remotely operated vehicles; underwater equipment; AUV localisation; AUV mapping; extended Kalman filter; network latency; simultaneous localization and mapping; underwater environments; Bandwidth; Computer architecture; Delay; Distributed algorithms; Information filtering; Information filters; Navigation; Simultaneous localization and mapping; Underwater communication; Vehicles; Distributed Navigation; Information Filter; SLAM;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS 2007 - Europe
Conference_Location
Aberdeen
Print_ISBN
978-1-4244-0635-7
Electronic_ISBN
978-1-4244-0635-7
Type
conf
DOI
10.1109/OCEANSE.2007.4302397
Filename
4302397
Link To Document