File:Acoustic communications considerations for collaborative simultaneous localization and mapping (IA acousticcommunic1094544579).pdf

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Acoustic communications considerations for collaborative simultaneous localization and mapping   (Wikidata search (Cirrus search) Wikidata query (SPARQL)  Create new Wikidata item based on this file)
Author
Hilger, Ryan Peter
image of artwork listed in title parameter on this page
Title
Acoustic communications considerations for collaborative simultaneous localization and mapping
Publisher
Monterey, California: Naval Postgraduate School
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
Language English
Publication date December 2014
Current location
IA Collections: navalpostgraduateschoollibrary; fedlink
Accession number
acousticcommunic1094544579
Source
Internet Archive identifier: acousticcommunic1094544579
https://archive.org/download/acousticcommunic1094544579/acousticcommunic1094544579.pdf
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.

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Public domain
This work is in the public domain in the United States because it is a work prepared by an officer or employee of the United States Government as part of that person’s official duties under the terms of Title 17, Chapter 1, Section 105 of the US Code. Note: This only applies to original works of the Federal Government and not to the work of any individual U.S. state, territory, commonwealth, county, municipality, or any other subdivision. This template also does not apply to postage stamp designs published by the United States Postal Service since 1978. (See § 313.6(C)(1) of Compendium of U.S. Copyright Office Practices). It also does not apply to certain US coins; see The US Mint Terms of Use.
This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights.

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Date/TimeThumbnailDimensionsUserComment
current22:34, 13 July 2020Thumbnail for version as of 22:34, 13 July 20201,275 × 1,650, 104 pages (2.82 MB) (talk | contribs)FEDLINK - United States Federal Collection acousticcommunic1094544579 (User talk:Fæ/IA books#Fork8) (batch 1993-2020 #5342)

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