Multi-Robot Exploration of Underwater Structures
Peer reviewed, Journal article
Published version
Permanent lenke
https://hdl.handle.net/11250/3057544Utgivelsesdato
2022Metadata
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Sammendrag
This paper discusses a novel approach for the exploration of an underwater structure. A team of robots splits into two roles: certain robots approach the structure collecting detailed information (proximal observers) while the rest (distal observers) keep a distance providing an overview of the mission and assist in the localization of the proximal observers via a Cooperative Localization framework. Proximal observers utilize a novel robust switching model-based/visual-inertial odometry to overcome vision-based localization failures. Exploration strategies for the proximal and the distal observer are discussed.