AquaVis: A Perception-Aware Autonomous Navigation Framework for Underwater Vehicles
Marios Xanthidis,Michail Kalaitzakis,Nare Karapetyan,James Johnson,Nikolaos Vitzilaios,Jason M. O’Kane,Ioannis Rekleitis,Marios Xanthidis,Michail Kalaitzakis,Nare Karapetyan,James Johnson,Nikolaos Vitzilaios,Jason M. O’Kane,Ioannis Rekleitis
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation. This paper introduces the first navigation framework, called AquaVis, that produces on-line visibility-aware motion plans that enable Autonomous Underwater Vehicles (AUVs) to track multiple visual objectives with an arbit...
