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In this paper, we present a new approach to the problem of simultaneous distributed localization for multiple autonomous underwater vehicles(MAUVs). Cooperative localization(CL) is a crucial cycle for long range navigation of MAUVs. In the leader-follower cooperative structure, a collective estimator is processed in the form of a extended Kalman filter. Different from the normal decentralized filter...
This paper is about environment perception for navigation system in real outdoor applications. Unlike other approaches that try to detect an obstacle of binary state, we consider here a Digital Elevation Map (DEM). This map has to be built in regards to the guidance system's needs. These needs depend on the vehicle capabilities, its dynamical constraints, its speed etc... Starting with the navigation...
This paper presents a new omni-directional vision based navigation system for mobile robots in substation environments for 24h all-weather inspection. It is featured with near infrared illumination, omni-directional imaging, and artificial landmarks recognition. The extended Kalman filter (EKF) is also used to integrate the measurements from vision and odometer. Experiments have also been carried...
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