A Robotic Cooperative Network for Localising a Submarine in Distress: Results From REPMUS21
Gabriele Ferri,Alessandro Faggiani,Roberto Petroccia,Pietro Stinco,Alessandra Tesei,Gabriele Ferri,Alessandro Faggiani,Roberto Petroccia,Pietro Stinco,Alessandra Tesei
Autonomy, cooperation and data fusion can increase the performance of robotic networks in many underwater applications. In this paper, we describe a novel occupancy grid (OG) based perception layer, and its use for controlling a network of autonomous underwater vehicles (AUVs), sensorised with passive sonars. Data fusion between the robots' bearing-only measurements (typical of passive sonars) ena...
