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How can teams of artificial agents localize and position themselves in GPS-denied environments? How can each agent determine its position from pairwise ranges, own velocity, and limited interaction with neighbors? This paper addresses this problem from an optimization point of view: we directly optimize the nonconvex maximum-likelihood estimator in the presence of range measurements contaminated with...
In this paper, we present an approach for producing side scan sonar image mosaicking under a robust SLAM scheme. A Pose Graph based SLAM algorithm is used to perform a correction over the sensor trajectory for enabling image registration, using observation constraints extracted from the images. However, due to the operational context, the available odometry data carries a high degree of uncertainty...
This paper studies an optimal autonomous underwater vehicule (AUV) path planning method for both reducing average delay before pollutants detection in underwater mining, oil or gas fields and reducing AUV occupancy time. The proposed technique, based on the bayesian search theory framework and multi-objective optimization, extracts optimal boustrophedon paths for leak detection in complex environment...
This paper focuses on the problem of seabed survey mission with multiple target points distributed in large scale area. To complete the survey with AUVs in minimum cost, a two-step procedure using greed strategy is presented. In the first step, the locations of so-called anchor points are found by executing k-means algorithm iteratively. In the second step, an ant-cycle system is used to find out...
We describe an approach with considerations for the limitations of operating underwater, including low bandwidth communications, for performing UUV collaborative missions. We implement a decentralized model predictive control (DMPC) algorithm to control teams of unmanned underwater vehicles (UUVs) that simultaneously optimizes vehicle control inputs to explicitly account for the limitations of operating...
The islands have plentiful renewable energy resources. Fully use of these renewable energy sources will greatly improve the power supply capacity and quality of the offshore micro grid. Considering the randomness and intermittence of the output of these renewable energy sources, it is a good choice to add energy storage devices into the grid to improve the reliability and stability of the system output...
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