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Laughlin D. L. Barker and Louis L. Whitcomb
This paper addresses the problem of ice-relative underwater robotic vehicle navigation relative to moving or stationary contiguous sea ice. A review of previously-reported under-ice navigation methods is given, as well as motivation for the use of under-...
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Ranzhen Ren, Lichuan Zhang, Lu Liu, Dongwei Wu, Guang Pan, Qiaogao Huang, Yuchen Zhu, Yazhe Liu and Zixiao Zhu
To reduce the cooperative positioning error and improve the navigation accuracy, a single master?slave AUV cooperative navigation method is proposed in this paper, which mainly focuses on planning the optimal path of the master AUV by the time difference...
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Lin Zhang, Yanbin Gao and Lianwu Guan
For seabed mapping, the prevalence of autonomous underwater vehicles (AUVs) employing side-scan sonar (SSS) necessitates robust navigation solutions. However, the positioning errors of traditional strapdown inertial navigation system (SINS) and Doppler v...
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Yevgeni Gutnik and Morel Groper
Precise close range underwater electromagnetic navigation and docking.
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Zixiao Zhu, Lichuan Zhang, Lu Liu, Dongwei Wu, Shuchang Bai, Ranzhen Ren and Wenlong Geng
Positioning errors introduced by low-precision navigation devices can affect the overall accuracy of a positioning system. To address this issue, this paper proposes a master-slave multi-AUV collaborative navigation method based on hierarchical reinforce...
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Ziyuan Li, Huapeng Yu, Ye Li, Tongsheng Shen, Chongyang Wang and Zheng Cong
Accumulating evidence suggests that migrating animals store navigational ?maps? in their brains, decoding location information from geomagnetic information based on their perception of the magnetic field. Inspired by this phenomenon, a novel geomagnetic ...
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Timothy Sands
The major premise of deterministic artificial intelligence (D.A.I.) is to assert deterministic self-awareness statements based in either the physics of the underlying problem or system identification to establish governing differential equations. The key...
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Aijun Zhang, Yixuan Wu, Chenbo Zhi and Rui Yang
In the navigation of an autonomous underwater vehicle (AUV), the positioning accuracy and stability of the navigation system will decrease due to uncertainties such as mobility, inaccuracy of a priori process noise characteristic, and simplification of a...
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Bo Wang and Tijing Cai
Gravity-aided inertial navigation system (GAINS) is an important development in autonomous underwater vehicle (AUV) navigation. An effective path planning algorithm plays an important role in the performance of navigation in long-term underwater missions...
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Valery Bobkov, Alexey Kudryashov and Alexander Inzartsev
The use of an autonomous underwater vehicle (AUV) to inspect underwater industrial infrastructure requires the precise, coordinated movement of the AUV relative to subsea objects. One significant underwater infrastructure system is the subsea production ...
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Ðula Nad, Filip Mandic and Nikola Mi?kovic
SCUBA diving activities are classified as high-risk due to the dangerous environment, dependency on technical equipment that ensures life support, reduced underwater navigation and communication capabilities all of which compromise diver safety. While au...
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Valery Bobkov, Antonina Shupikova and Alexander Inzartsev
The inspection of condition of underwater pipelines (UPs) based on autonomous underwater vehicles (AUVs) requires high accuracy of positioning while the AUV is moving along to the object being examined. Currently, acoustic, magnetometric, and visual mean...
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Pengcheng Mu, Xin Zhang, Ping Qin and Bo He
Simultaneous Localization and Mapping (SLAM) is a well-known solution for mapping and realizing autonomous navigation of an Autonomous Underwater Vehicle (AUV) in unknown underwater environments. However, the inaccurate time-varying observation noise wil...
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Zhuo Wang, Hao Lu, Hongde Qin and Yancheng Sui
This study aims to solve the issue of the safe navigation of autonomous underwater vehicles (AUVs) in an unknown underwater environment. AUV will encounter canyons, rocks, reefs, fish, and underwater vehicles that threaten its safety during underwater na...
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Guocheng Zhang, Jixiao Liu, Yushan Sun, Xiangrui Ran and Puxin Chai
This paper aims to focus on the path planning problem of AUV in the marine environment. As well as considering the path length and safe obstacle avoidance, ocean currents should not be ignored as the main factor affecting the navigation energy consumptio...
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Yushan Sun, Xiaokun Luo, Xiangrui Ran and Guocheng Zhang
This research aims to solve the safe navigation problem of autonomous underwater vehicles (AUVs) in deep ocean, which is a complex and changeable environment with various mountains. When an AUV reaches the deep sea navigation, it encounters many underwat...
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Wentao Shi, Yongqi Tang, Mingqi Jin and Lianyou Jing
The Underwater Internet of Things (IoUT) shows significant future potential in enabling a smart ocean. Underwater sensor network (UWSN) is a major form of IoUT, but it faces the problem of reliable data collection. To address these issues, this paper con...
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Linling Wang, Xiaoyan Xu, Bing Han and Huapeng Zhang
In this paper, multiple autonomous underwater vehicle (multi-AUV) formation control with obstacle avoidance ability in 3D complex underwater environments based on an event-triggered model predictive control (EMPC) is proposed. Firstly, multi-AUV motion m...
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Yushan Sun, Puxin Chai, Guocheng Zhang, Tian Zhou and Haotian Zheng
In the motion control of AUVs, especially those driven by multiple thrusters, the thruster misalignment and thrust loss cause the actual force and moment applied to the AUV to deviate from that desired, making accurate and fast motion control difficult. ...
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Xiaokai Mu, Guan Yue, Nan Zhou and Congcong Chen
Simultaneous localization and mapping (SLAM) is an active localization method for Autonomous Underwater Vehicle (AUV), and it can mainly be used in unknown and complex areas such as coastal water, harbors, and wharfs. This paper presents a practical occu...
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