Multi-Robot Exploration of Underwater Structures. Issue 31 (2022)

• Record Type: Journal Article
• Authors: Xanthidis, Marios; Joshi, Bharat; O'Kane, Jason M.; Rekleitis, Ioannis
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 31(2022)
• Page Start: 395
• Page End: 400
• Publication Date: 2022
• Subjects: Underwater Robotics -- Mapping -- Localization -- Visual-Inertial Odometry -- Cooperative Localization; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.10.460
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper discusses a novel approach for the exploration of an underwater structure. A team of robots splits into two roles: certain robots approach the structure collecting detailed information (proximal observers) while the rest (distal observers) keep a distance providing an overview of the mission and assist in the localization of the proximal observers via a Cooperative Localization framework. Proximal observers utilize a novel robust switching model-based/visual-inertial odometry to overcome vision-based localization failures. Exploration strategies for the proximal and the distal observer are discussed.