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Cooperative Deep Water Seafloor Mapping with Heterogeneous Robotic Platforms

Title
Cooperative Deep Water Seafloor Mapping with Heterogeneous Robotic Platforms
Type
Article in International Conference Proceedings Book
Year
2017
Authors
Abreu, N
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Almeida, J
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Almeida, R
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Dias, A
(Author)
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Bruno Ferreira
(Author)
FEUP
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Ferreira, H
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Gonçalves, C
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Martins, A
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Melo, J
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Pinto, A
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FEUP
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Pinto, V
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FEUP
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E. Pereira da Silva
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Silva, H
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Aníbal Castilho Coimbra de Matos
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FEUP
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Silva, E
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Conference proceedings International
Pages: 1-7
OCEANS 2017 - Anchorage
18 September 2017 through 21 September 2017
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
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