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dc.contributor.authorMasmitjà Rusiñol, Ivan
dc.contributor.authorGomáriz Castro, Spartacus
dc.contributor.authorRío Fernandez, Joaquín del
dc.contributor.authorKieft, B
dc.contributor.authorO'Reilly, Thomas C.
dc.contributor.authorBouvet, Pierre-Jean
dc.contributor.authorAguzzi, Jacopo
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica
dc.identifier.citationMasmitja, I. [et al.]. Optimal path shape for range-only underwater target localization using a Wave Glider. "International journal of robotics research", 3 Octubre 2018, vol. 37, núm. 12, p. 1447-1462.
dc.description.abstractUnderwater localization using acoustic signals is one of the main components in a navigation system for an autonomous underwater vehicle (AUV) as a more accurate alternative to dead-reckoning techniques. Although different methods based on the idea of multiple beacons have been studied, other approaches use only one beacon, which reduces the system’s costs and deployment complexity. The inverse approach for single-beacon navigation is to use this method for target localization by an underwater or surface vehicle. In this paper, a method of range-only target localization using a Wave Glider is presented, for which simulations and sea tests have been conducted to determine optimal parameters to minimize acoustic energy use and search time, and to maximize location accuracy and precision. Finally, a field mission is presented, where a Benthic Rover (an autonomous seafloor vehicle) is localized and tracked using minimal human intervention. This mission shows, as an example, the power of using autonomous vehicles in collaboration for oceanographic research.
dc.format.extent16 p.
dc.subjectÀrees temàtiques de la UPC::Física::Acústica::Sonar
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subjectÀrees temàtiques de la UPC::Nàutica::Navegació marítima::Instrumentació i equipament per a la navegació
dc.subject.lcshRemote submersibles
dc.subject.otherTarget localization
dc.subject.otherAutonomous vehicle
dc.subject.otherRange only
dc.subject.otherSingle beacon
dc.subject.otherMarine robotics
dc.titleOptimal path shape for range-only underwater target localization using a Wave Glider
dc.subject.lemacVehicles submergibles remots
dc.contributor.groupUniversitat Politècnica de Catalunya. SARTI-MAR - Sistemes d'Adquisició Remota de dades i Tractament de la Informació en el Medi Marí
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/H2020/654410/EU/Joint European Research Infrastructure network for Coastal Observatory – Novel European eXpertise for coastal observaTories/JERICO-NEXT
local.citation.authorMasmitja, I.; Gomariz, S.; Del Rio, J.; Kieft, B.; O'Reilly, T.C.; Bouvet, P.; Aguzzi, J.
local.citation.publicationNameInternational journal of robotics research

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