01826nas a2200241 4500008004100000022001400041245011700055210006900172260001200241300001600253490000700269520111300276653001301389100001601402700001301418700001701431700001801448700001501466700001401481700001301495700001601508856006001524 2016 eng d a0929-559300aCooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles0 aCooperative navigation of AUVs via acoustic communication networ c10/2016 a1229–12440 v403 a
A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described and validated on experimental data. The procedure relies on acoustic communication networking among the AUVs and/or fixed acoustic nodes, and it is suitable as a low-cost solution for team navigation. Embedding the acoustic localization measurements in the communication scheme causes delays and sometimes loss of acoustic data, depending on acoustic propagation conditions. Despite this drawback, the results obtained show that on-board localization estimates have an error of the order of few meters, improving the overall navigation performance and leading the system towards long-term autonomy in terms of operating mission time, without the need of periodic resurfacings dedicated to reset the estimation error. The data were collected during the CommsNet ’13 experiment, led by the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE), and the Breaking The Surface ’14 workshop, organized by the University of Zagreb.
10aRobotics1 aAllotta, B.1 aCaiti, A1 aCostanzi, R.1 aDi Corato, F.1 aFenucci, D1 aMonni, N.1 aPugi, L.1 aRidolfi, A. uhttp://link.springer.com/journal/volumesAndIssues/10514