Robotics: Science and Systems IX

An Exact Decentralized Cooperative Navigation Algorithm for Acoustically Networked Underwater Vehicles with Robustness to Faulty Communication: Theory and Experiment

Jeffrey Walls, Ryan Eustice

Abstract:

This paper reports on an exact real-time solution for server-client cooperative localization over a faulty and extremely bandwidth-limited underwater communication channel. Our algorithm, termed the OSM, enables a `server' vehicle to aid the navigation of multiple `client' vehicles via a novel representation of the server's pose-graph that is robust to communication packet loss. This transmitted pose-graph can be used in conjunction with a DEIF on the client to reproduce the corresponding two-vehicle server-client centralized result exactly. We present a full comparative evaluation for the first-ever real-time field implementation of the proposed algorithm for a multi-agent AUV network using underwater acoustic modems to communicate in a synchronous-clock transmission framework.

Download:

Bibtex:

  
@INPROCEEDINGS{Walls-RSS-13, 
    AUTHOR    = {Jeffrey Walls AND Ryan Eustice}, 
    TITLE     = {An Exact Decentralized Cooperative Navigation Algorithm for Acoustically Networked Underwater Vehicles with Robustness to Faulty Communication: Theory and Experiment}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2013}, 
    ADDRESS   = {Berlin, Germany}, 
    MONTH     = {June},
    DOI       = {10.15607/RSS.2013.IX.010} 
}