Real-Time Planning Under Uncertainty for AUVs Using Virtual Maps
Ivana Collado-Gonzalez,John McConnell,Jinkun Wang,Paul Szenher,Brendan Englot,Ivana Collado-Gonzalez,John McConnell,Jinkun Wang,Paul Szenher,Brendan Englot
Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose estimation can be improved by incorporating the uncertainty prediction of future poses into the planning process and choosing actions that reduce uncertainty. H...
