In this paper, we present a system capable of simultaneously estimating the position of an
autonomous underwater vehicle (AUV) and the positions of stationary range-only beacons …

Underwater navigation that relies solely on dead reckoning (DR) suffers from unbounded
position error growth. A common approach for alleviating the problem is to have the …

Autonomous underwater vehicle (AUV) navigation and localization in underwater
environments is particularly challenging due to the rapid attenuation of Global Positioning …

Underwater Wireless Sensor Networks (UWSNs) are expected to support a variety of civilian
and military applications. Sensed data can only be interpreted meaningfully when …

The absolute position of an underwater target is difficult to pinpoint because the global
positioning system (GPS) cannot penetrate water bodies. The long baseline (LBL) …

In this paper we propose an approach to SLAM suitable for bathymetric mapping by an
autonomous underwater vehicle (AUV). AUVs typically do not have access to GPS while …

Recent advances in the utilization of Lie Groups for robotic localization have led to dramatic
increases in the accuracy of estimation and uncertainty characterization. One of the novel …

This paper presents a cooperative positioning system between two autonomous underwater
vehicles (AUVs). Each AUV is equipped with some navigational sensors. However, AUVs …

This paper is about using range-only data to navigate an autonomous underwater vehicle
(AUV). We assume the vehicle is equipped with conventional long base line (LBL) …

We present results of the application of a simultaneous localisation and map building
(SLAM) algorithm to estimate the motion of a submersible vehicle. Scans obtained from an …