Please use this identifier to cite or link to this item: http://repositorio.inesctec.pt/handle/123456789/11376
Title: Cooperative deep water seafloor mapping with heterogeneous robotic platforms
Authors: Pinto,A
Dias,A
Melo,J
Alfredo Martins
Abreu,N
Almeida,J
Almeida,R
José Carlos Alves
Carlos Filipe Gonçalves
Ferreira,H
Ferreira,B
Nuno Cruz
Silva,E
Aníbal Matos
Hugo Miguel Silva
Eduardo Silva
Vitor Hugo Pinto
Issue Date: 2017
Abstract: This paper describes the PISCES system, an integrated approach for fully autonomous mapping of large areas of the ocean in deep waters. A deep water AUV will use an acoustic navigation system to compute is position with bounded error. The range limitation will be overcome by a moving baseline scheme, with the acoustic sources installed in robotic surface vessels with previously combined trajectories. In order to save power, all systems will have synchronized clocks and implement the One Way Travel Time scheme. The mapping system will be a combination of an off-the-shelf MBES with a new long range bathymetry system, with a source on a moving surface vessel and the receivers on board the AUV. The system is being prepared to participate in round one of the XPRIZE challenge. © 2017 Marine Technology Society.
URI: http://repositorio.inesctec.pt/handle/123456789/11376
metadata.dc.type: conferenceObject
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Appears in Collections:CRAS - Articles in International Conferences

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