Cooperative Deep Water Seafloor Mapping with Heterogeneous Robotic Platforms

• Type: Article in International Conference Proceedings Book
• Date: 2017

Authors

Nuno Cruz (Author) FEUP; Abreu, N (Author) Other; Almeida, J (Author) Other; Almeida, R (Author) Other; José Carlos Alves (Author) FEUP; Dias, A (Author) Other; Bruno Ferreira (Author) FEUP; Ferreira, H (Author) Other; Gonçalves, C (Author) Other; Martins, A (Author) Other; Melo, J (Author) Other; Pinto, A (Author) FEUP; Pinto, V (Author) FEUP; E. Pereira da Silva (Author) Other; Silva, H (Author) Other; Aníbal Castilho Coimbra de Matos (Author) FEUP; Silva, E (Author) Other

Conference proceedings International

Title: OCEANS 2017 - Anchorage

Pages: 1-7

OCEANS 2017 - Anchorage

18 September 2017 through 21 September 2017

Indexing

ISI Web of Knowledge - 3 Citations

Scopus - 10 Citations

Other information

Authenticus ID: P-00Q-E7H

Abstract (EN): This paper describes the PISCES system, an integrated approach for fully autonomous mapping of large areas of the ocean in deep waters. A deep water AUV will use an acoustic navigation system to compute is position with bounded error. The range limitation will be overcome by a moving baseline scheme, with the acoustic sources installed in robotic surface vessels with previously combined trajectories. In order to save power, all systems will have synchronized clocks and implement the One Way Travel Time scheme. The mapping system will be a combination of an off-the-shelf MBES with a new long range bathymetry system, with a source on a moving surface vessel and the receivers on board the AUV. The system is being prepared to participate in round one of the XPRIZE challenge.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7