Experiments in robotic boat localization


We are motivated by the prospect of automating microbial observing systems. To this end we have designed and built a robotic boat as part of a sensor network for monitoring aquatic environments. In this paper, we describe a dynamic model of the boat, an algorithm for estimating its location by integrating various sensor inputs, a controller for waypoint following and extensive field experiments (over 10 km aggregate) to validate each of these. We test the localization accuracy in different sensing regimes as a prelude to accommodating sensing failures.

DOI: 10.1109/IROS.2007.4399056

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@article{Dhariwal2007ExperimentsIR, title={Experiments in robotic boat localization}, author={Amit Dhariwal and Gaurav S. Sukhatme}, journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2007}, pages={1702-1708} }