Towards cooperative localization of an acoustic pinger

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2012

Autores

Bruno M Ferreira (Autor) Outra; Anibal C Matos (Autor) FEUP; Nuno A Cruz (Autor) FEUP; Rui M Almeida (Autor) Outra

Ata de Conferência Internacional

Título: 2012 OCEANS

MTS/IEEE Oceans Conference

Virginia Beach, VA, OCT 14-19, 2012

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 4 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Outras ciências da engenharia e tecnologias

Outras Informações

ID Authenticus: P-005-472

DOI: 10.1109/oceans.2012.6405080

Abstract (EN): This paper tackles the problem of localization of an acoustic pinger by a team of cooperative marine robots. A pinger, whose location is unknown, intermittently emits an acoustic ping which is sensed by hydrophones mounted on marine robots. In addition to position, the instant of emission is unknown. A team of robots carrying a total of four hydrophones is therefore (theoretically) required to estimate the position without ambiguity. The precision of the estimate and the uncertainty critically depend on the position of the hydrophones. In order to obtain the best possible estimation, we explore the possibility of using a cooperative method that leads the robots to points where the overall observability is improved.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 5