@article {2848, title = {Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles}, journal = {AUTONOMOUS ROBOTS}, volume = {40}, year = {2016}, month = {10/2016}, pages = {1229{\textendash}1244}, abstract = {

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\ {\textquoteright}13 experiment, led by the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE), and the Breaking The Surface\ {\textquoteright}14 workshop, organized by the University of Zagreb.

}, keywords = {Robotics}, issn = {0929-5593}, doi = {10.1007/s10514-016-9594-9}, url = {http://link.springer.com/journal/volumesAndIssues/10514}, author = {B. Allotta and A. Caiti and R. Costanzi and F. Di Corato and D. Fenucci and N. Monni and L. Pugi and A. Ridolfi} } @conference {1862, title = {Control-oriented modelling of an hybrid AUV}, booktitle = {Proc. IEEE Conf. on Robotics and Automation, ICRA 2010}, year = {2010}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/ROBOT.2010.5509365}, url = {http://dx.medra.org/10.1109/ROBOT.2010.5509365}, author = {A. Caiti and V. Calabr{\`o}} } @conference {1856, title = {Cooperating AUV Teams: Adaptive Area Coverage With Space-Varying Communication Constraints}, booktitle = {IEEE Oceans Europe 09}, year = {2009}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/OCEANSE.2009.5278255}, url = {http://dx.medra.org/10.1109/OCEANSE.2009.5278255}, author = {A. Caiti and G. Casalino and A. Munaf{\`o} and A. Turetta} } @article {1423, title = {COMMENTS ON THE PROPERTIES OF THE OPERATIONAL MATRICES OF INTEGRATION AND DIFFERENTIATION FOR FOURIER TRIGONOMETRIC FUNCTIONS}, journal = {IEEE TRANSACTIONS ON AUTOMATIC CONTROL}, volume = {38}, year = {1993}, pages = {667{\textendash}671}, issn = {0018-9286}, doi = {10.1109/9.250546}, url = {http://dx.medra.org/10.1109/9.250546}, author = {A. Caiti and G. Cannata} }