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Active SLAM for autonomous underwater exploration

Author
Palomeras, N.; Carreras, M.; Andrade-Cetto, J.
Type of activity
Journal article
Journal
Remote sensing
Date of publication
2019
Volume
11
Number
23
First page
2827:1
Last page
2827:19
DOI
10.3390/rs11232827
Project funding
Event-based simultaneous localization and mapping
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/176760 Open in new window
URL
https://www.mdpi.com/2072-4292/11/23/2827 Open in new window
Abstract
Exploration of a complex underwater environment without an a priori map is beyond the state of the art for autonomous underwater vehicles (AUVs). Despite several efforts regarding simultaneous localization and mapping (SLAM) and view planning, there is no exploration framework, tailored to underwater vehicles, that faces exploration combining mapping, active localization, and view planning in a unified way. We propose an exploration framework, based on an active SLAM strategy, that combines thre...
Citation
Palomeras, N.; Carreras, M.; Andrade-Cetto, J. Active SLAM for autonomous underwater exploration. "Remote sensing", 2019, vol. 11, núm. 23, p. 2827:1-2827:19.
Keywords
Active SLAM, Autonomous underwater vehicles, Robot exploration, Robots, View planning
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants