Multiple autonomous surface vehicle motion planning for cooperative range-based underwater target localization

2018 ◽  
Vol 46 ◽  
pp. 326-342 ◽  
Author(s):  
N. Crasta ◽  
D. Moreno-Salinas ◽  
A.M. Pascoal ◽  
J. Aranda
Keyword(s):  
Motion Planning ◽  
Target Localization ◽  
Autonomous Surface Vehicle ◽  
Vehicle Motion ◽  
Underwater Target

scholarly journals Sampling-based incremental information gathering with applications to robotic exploration and environmental monitoring

2019 ◽  
Vol 38 (6) ◽  
pp. 658-685 ◽  
Author(s):  
Maani Ghaffari Jadidi ◽  
Jaime Valls Miro ◽  
Gamini Dissanayake
Keyword(s):  
Motion Planning ◽  
Planning Process ◽  
Information Gathering ◽  
Maximization Problem ◽  
Convergence Criterion ◽  
Information Theoretic ◽  
Information Functions ◽  
Monitoring Task ◽  
Robotic Exploration ◽  
Autonomous Surface Vehicle

We propose a sampling-based motion-planning algorithm equipped with an information-theoretic convergence criterion for incremental informative motion planning. The proposed approach allows dense map representations and incorporates the full state uncertainty into the planning process. The problem is formulated as a constrained maximization problem. Our approach is built on rapidly exploring information-gathering algorithms and benefits from the advantages of sampling-based optimal motion-planning algorithms. We propose two information functions and their variants for fast and online computations. We prove an information-theoretic convergence for an entire exploration and information-gathering mission based on the least upper bound of the average map entropy. A natural automatic stopping criterion for information-driven motion control results from the convergence analysis. We demonstrate the performance of the proposed algorithms using three scenarios: comparison of the proposed information functions and sensor configuration selection, robotic exploration in unknown environments, and a wireless signal strength monitoring task in a lake from a publicly available dataset collected using an autonomous surface vehicle.

scholarly journals Range-only underwater target localization: Path characterization

2016 ◽  
Author(s):  
I. Masmitja ◽  
S. Gomariz ◽  
J. Del Rio ◽  
B. Kieft ◽  
T. O'Reilly
Keyword(s):  
Target Localization ◽  
Underwater Target

scholarly journals Hybrid DDPG Approach for Vehicle Motion Planning

2019 ◽  
Author(s):  
Árpád Fehér ◽  
Szilárd Aradi ◽  
Ferenc Hegedűs ◽  
Tamás Bécsi ◽  
Péter Gáspár
Keyword(s):  
Motion Planning ◽  
Vehicle Motion
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