File:Acoustic communications considerations for collaborative simultaneous localization and mapping (IA acousticcommunic1094544579).pdf
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Summary
[edit]Acoustic communications considerations for collaborative simultaneous localization and mapping ( ) | ||
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Author |
Hilger, Ryan Peter |
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Title |
Acoustic communications considerations for collaborative simultaneous localization and mapping |
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Publisher |
Monterey, California: Naval Postgraduate School |
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Description |
This thesis considers the use of acoustic communications in reducing position uncertainty for collaborating autonomous underwater vehicles. The foundation of the work relies on statistical techniques for accurate navigation without access to GPS, known as Simultaneous Localization and Mapping (SLAM). Multiple AUVs permit increased coverage, system redundancy and reduced mission times. Collaboration through acoustic communications can minimize navigational uncertainty by permitting the group to benefit from locally discovered information. However, the propagation of acoustic communications can be used to counter detect the system during naval operations. The thesis gives explicit consideration to tactical security in acoustic communications for a multi-AUV SLAM system. It provides initial techniques and analysis for minimizing communications between AUVs. The reduction is accomplished through a statistical method that allows for the estimation of the updated covariance matrices. Normally, SLAM techniques use expropioceptive (sonar and cameras) sensors and computer vision algorithms for the detection and tracking of navigational references. We propose a novel use of the acoustic modem as another sensor. It leverages the physical characteristics of underwater acoustic transmissions and the information transmitted in the signal to provide an additional measurement. We believe this is the first emphasis on minimizing communications within a multi-vehicle SLAM approach. Subjects: UUV; AUV; SLAM; simultaneous localization and mapping; position uncertainty; navigation; minefield; mapping; tactical security; GPS; area denial; anti-access; A2/AD; acoustic communications; Bayesian inference |
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Language | English | |
Publication date | December 2014 | |
Current location |
IA Collections: navalpostgraduateschoollibrary; fedlink |
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Accession number |
acousticcommunic1094544579 |
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Source | ||
Permission (Reusing this file) |
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States. |
Licensing
[edit]Public domainPublic domainfalsefalse |
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This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights. |
https://creativecommons.org/publicdomain/mark/1.0/PDMCreative Commons Public Domain Mark 1.0falsefalse
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current | 22:34, 13 July 2020 | 1,275 × 1,650, 104 pages (2.82 MB) | Fæ (talk | contribs) | FEDLINK - United States Federal Collection acousticcommunic1094544579 (User talk:Fæ/IA books#Fork8) (batch 1993-2020 #5342) |
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Author | localadmin |
Software used | PScript5.dll Version 5.2.2 |
File change date and time | 12:41, 10 December 2014 |
Date and time of digitizing | 12:41, 10 December 2014 |
Conversion program | Acrobat Distiller 11.0 (Windows) |
Encrypted | no |
Page size | 612 x 792 pts (letter) |
Version of PDF format | 1.4 |