dc.contributor.author | Xanthidis, Marios | |
dc.contributor.author | Joshi, Bharat | |
dc.contributor.author | O'Kane, Jason M. | |
dc.contributor.author | Rekleitis, Ioannis | |
dc.date.accessioned | 2023-03-10T08:47:15Z | |
dc.date.available | 2023-03-10T08:47:15Z | |
dc.date.created | 2023-03-07T18:16:07Z | |
dc.date.issued | 2022 | |
dc.identifier.citation | IFAC-PapersOnLine. 2022, 55 (31), 395-400. | en_US |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | https://hdl.handle.net/11250/3057544 | |
dc.description.abstract | 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. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Elsevier | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.subject | Localization | en_US |
dc.subject | Cooperative | en_US |
dc.subject | Visual-Inertial Odometry | en_US |
dc.subject | Localization | en_US |
dc.subject | Mapping | en_US |
dc.subject | Underwater Robotics | en_US |
dc.title | Multi-Robot Exploration of Underwater Structures | en_US |
dc.title.alternative | Multi-Robot Exploration of Underwater Structures | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.rights.holder | Copyright © 2022 The Authors. This is an open access article under the CC BY-NC-ND license. | en_US |
dc.source.pagenumber | 395-400 | en_US |
dc.source.volume | 55 | en_US |
dc.source.journal | IFAC-PapersOnLine | en_US |
dc.source.issue | 31 | en_US |
dc.identifier.doi | 10.1016/j.ifacol.2022.10.460 | |
dc.identifier.cristin | 2132107 | |
dc.relation.project | Norges forskningsråd: 327292 | en_US |
dc.relation.project | National Science Foundation: 2024741, 1943205 | en_US |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |