Multi-Robot Exploration of Underwater Structures

Marios Xanthidis, Bharat Joshi, Jason M. O'Kane, Ioannis Rekleitis
In IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles
2022
To appear

Abstract 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.

@inproceedings{XanJos+22,
  author = {Marios Xanthidis and Bharat Joshi and Jason M. O'Kane and Ioannis
            Rekleitis},
  booktitle = {IFAC Conference on Control Applications in Marine Systems, Robotics,
               and Vehicles},
  note = {To appear},
  title = {Multi-Robot Exploration of Underwater Structures},
  year = {2022}
}


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Last updated 2022-07-08.