State estimation of multiple autonomous underwater vehicles for wide area survey of seafloor

In this paper, we propose a state estimation method for navigation by multiple AUVs (Autonomous Underwater Vehicles) for wide area seafloor observation. The key idea is that moving AUVs estimate their states (horizontal position and heading angle) based on AUVs remaining stationary on the seafloor (landmark AUVs). By alternating the landmark role, each AUV… CONTINUE READING