This paper discusses a novel approach for the exploration of an underwater structure. A team of robots splits into two roles: certain robots approach the structure collecting detailed information (proximal observers) while the rest (distal observers) keep a distance providing an overview of the mission and assist in the localization of the proximal observers via a Cooperative Localization framework. Proximal observers utilize a novel robust switching model-based/visual-inertial odometry to overcome vision-based localization failures. Exploration strategies for the proximal and the distal observer are discussed.
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Experimental Validation of Stable Coordination for Multi-Robot Systems with Limited Fields of View using a Portable Multi-Robot Testbed
- Award ID(s):
- 1657235
- PAR ID:
- 10106635
- Date Published:
- Journal Name:
- IEEE International Symposium on Multi-Robot and Multi-Agent Systems
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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