This thesis addresses the issues of scale for practical implementations of simultaneous
localisation and mapping (SLAM) in extensive outdoor environments. Building an …

This work provides a general description of the multi sensor data fusion concept, along with
a new classification of currently used sensor fusion techniques for unmanned underwater …

This article proposes a simultaneous localization and mapping (SLAM) solution that
combines inputs from sonar and optical images. Our solution for this navigation problem is …

This paper documents the development of an underwater robot system enabled with several
mapping and localization techniques applied to a particular archaeological expedition. The …

Abstract 3D mapping is very challenging in the underwater domain, especially due to the
lack of high resolution, low noise sensors. A new spectral registration method is presented …

A robust obstacle detection and avoidance system is essential for long term autonomy of
autonomous underwater vehicles (AUVs). Forward looking sonars are usually used to detect …

This paper describes a localisation framework that combines the accuracy of feature maps
with the scalability of topological maps. The map is structured as a graph of nodes where …

A key problem with autonomous underwater vehicles is being able to navigate in a generally
unknown environment. The available underwater sensor suites have a limited capability to …

A method for 6 degree of freedom (6-DOF) path-planning for Autonomous Underwater
Vehicles (AUV) is presented. It is based on an augmentation of Rapidly-exploring Random …

In order to improve the efficiency of a terrain covering algorithm for a robot (AUV), an artificial
island (AI) technique is developed. Such an algorithm is necessary to acquire information …