Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Anwar Quraishi,Alcherio Martinoli,Anwar Quraishi,Alcherio Martinoli

Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided localization. As such, the common method of choice for external position referencing in underwater robots is the use of acoustic signals for computing...