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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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Towards Mapping of Underwater Structures by a Team of Autonomous Underwater Vehicles
In this paper, we discuss how to effectively map an underwater structure with a team of robots considering the specific challenges posed by the underwater environment. The overarching goal of this work is to produce high-definition, accurate, photorealistic representation of underwater structures. Due to the many limitations of vision underwater, operating at a distance from the structure results in degraded images that lack details, while operating close to the structure increases the accumulated uncertainty due to the limited viewing area which causes drifting. We propose a multi-robot mapping framework that utilizes two types of robots: proximal observers which map close to the structure and distal observers which provide localization for proximal observers and bird’s-eye-view situational awareness. The paper presents the fundamental components and related current results from real shipwrecks and simulations necessary to enable the proposed framework, including robust state estimation, real-time 3D mapping, and active perception navigation strategies for the two types of robots. Then, the paper outlines interesting research directions and plans to have a completely integrated framework that allows robots to map in harsh environments.
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- PAR ID:
- 10400862
- Editor(s):
- Billard, A.; Asfour, T.; Khatib, O.
- Date Published:
- Journal Name:
- International Symposium on Robotics Research (ISRR)
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
- Conference Paper:
- The DOI is not currently available.
