FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2021855741> ?p ?o ?g. }

• W2021855741 endingPage "139" @default.
• W2021855741 startingPage "122" @default.
• W2021855741 abstract "This paper addresses the problem of range-based autonomous underwater vehicle (AUV) localization in the presence of unknown ocean currents. In the setup adopted, the AUV is equipped with an attitude and heading reference system, a depth sensor, and an acoustic device that provides measurements of its distance to a set of stationary beacons. We consider the situation where the number of active beacons is not known in advance and may vary with time. The objective is to simultaneously localize the AUV and beacons, that is, to find their positions underwater. We start by deriving conditions under which it is possible to reconstruct the initial condition of the system under study. We consider the design model where the states evolve continuously with time, but the range measurements are only available at discrete instants of time, possibly in a nonuniform manner. For trimming maneuvers that correspond to AUV trajectories with constant linear and angular velocities expressed in the body frame, we show that if either the position of one of the beacons or the initial position of the AUV is known, then even without depth information the system is weakly observable (i.e., the set of states that are indistinguishable from a given initial configuration contains only a set of finite isolated points). If depth measurements are also available, then the system is observable even in the presence of unknown constant ocean currents. Equipped with these results, we then propose a novel observer for simultaneous AUV and beacon localization. The mathematical setup exploited borrows from minimum-energy estimation theory applied to continuous-time processes with discrete measurements, projection filters, and multiple-model estimation techniques. Convergence analysis of the resulting observer system yields conditions under which the estimation errors converge to a small neighborhood of the origin (whose size depends on the magnitude of the process and measurement noise). The results of field experiments with a robotic marine vehicle show the efficacy of the simultaneous AUV/multiple beacon localization system proposed." @default.
• W2021855741 created "2016-06-24" @default.
• W2021855741 creator A5042146195 @default.
• W2021855741 creator A5043877468 @default.
• W2021855741 creator A5069883451 @default.
• W2021855741 creator A5091226693 @default.
• W2021855741 date "2016-01-01" @default.
• W2021855741 modified "2023-09-29" @default.
• W2021855741 title "Range-Based Underwater Vehicle Localization in the Presence of Unknown Ocean Currents: Theory and Experiments" @default.
• W2021855741 cites W1964373008 @default.
• W2021855741 cites W1975347782 @default.
• W2021855741 cites W1978548754 @default.
• W2021855741 cites W1982711454 @default.
• W2021855741 cites W2002893797 @default.
• W2021855741 cites W2035827724 @default.
• W2021855741 cites W2037432062 @default.
• W2021855741 cites W2079705635 @default.
• W2021855741 cites W2093352963 @default.
• W2021855741 cites W2097511645 @default.
• W2021855741 cites W2099605174 @default.
• W2021855741 cites W2099825092 @default.
• W2021855741 cites W2107612715 @default.
• W2021855741 cites W2123775073 @default.
• W2021855741 cites W2124201080 @default.
• W2021855741 cites W2133295235 @default.
• W2021855741 cites W2134898473 @default.
• W2021855741 cites W2137625891 @default.
• W2021855741 cites W2140998418 @default.
• W2021855741 cites W2145654359 @default.
• W2021855741 cites W2146775457 @default.
• W2021855741 cites W2164443866 @default.
• W2021855741 cites W2501113052 @default.
• W2021855741 cites W4240959780 @default.
• W2021855741 cites W4250589301 @default.
• W2021855741 doi "https://doi.org/10.1109/tcst.2015.2420636" @default.
• W2021855741 hasPublicationYear "2016" @default.
• W2021855741 type Work @default.
• W2021855741 sameAs 2021855741 @default.
• W2021855741 citedByCount "81" @default.
• W2021855741 countsByYear W20218557412012 @default.
• W2021855741 countsByYear W20218557412016 @default.
• W2021855741 countsByYear W20218557412017 @default.
• W2021855741 countsByYear W20218557412018 @default.
• W2021855741 countsByYear W20218557412019 @default.
• W2021855741 countsByYear W20218557412020 @default.
• W2021855741 countsByYear W20218557412021 @default.
• W2021855741 countsByYear W20218557412022 @default.
• W2021855741 countsByYear W20218557412023 @default.
• W2021855741 crossrefType "journal-article" @default.
• W2021855741 hasAuthorship W2021855741A5042146195 @default.
• W2021855741 hasAuthorship W2021855741A5043877468 @default.
• W2021855741 hasAuthorship W2021855741A5069883451 @default.
• W2021855741 hasAuthorship W2021855741A5091226693 @default.
• W2021855741 hasConcept C111368507 @default.
• W2021855741 hasConcept C121332964 @default.
• W2021855741 hasConcept C127313418 @default.
• W2021855741 hasConcept C127413603 @default.
• W2021855741 hasConcept C145424490 @default.
• W2021855741 hasConcept C146978453 @default.
• W2021855741 hasConcept C154945302 @default.
• W2021855741 hasConcept C199104240 @default.
• W2021855741 hasConcept C19966478 @default.
• W2021855741 hasConcept C204323151 @default.
• W2021855741 hasConcept C2775924081 @default.
• W2021855741 hasConcept C41008148 @default.
• W2021855741 hasConcept C47446073 @default.
• W2021855741 hasConcept C90509273 @default.
• W2021855741 hasConcept C98083399 @default.
• W2021855741 hasConceptScore W2021855741C111368507 @default.
• W2021855741 hasConceptScore W2021855741C121332964 @default.
• W2021855741 hasConceptScore W2021855741C127313418 @default.
• W2021855741 hasConceptScore W2021855741C127413603 @default.
• W2021855741 hasConceptScore W2021855741C145424490 @default.
• W2021855741 hasConceptScore W2021855741C146978453 @default.
• W2021855741 hasConceptScore W2021855741C154945302 @default.
• W2021855741 hasConceptScore W2021855741C199104240 @default.
• W2021855741 hasConceptScore W2021855741C19966478 @default.
• W2021855741 hasConceptScore W2021855741C204323151 @default.
• W2021855741 hasConceptScore W2021855741C2775924081 @default.
• W2021855741 hasConceptScore W2021855741C41008148 @default.
• W2021855741 hasConceptScore W2021855741C47446073 @default.
• W2021855741 hasConceptScore W2021855741C90509273 @default.
• W2021855741 hasConceptScore W2021855741C98083399 @default.
• W2021855741 hasFunder F4320334779 @default.
• W2021855741 hasIssue "1" @default.
• W2021855741 hasLocation W20218557411 @default.
• W2021855741 hasOpenAccess W2021855741 @default.
• W2021855741 hasPrimaryLocation W20218557411 @default.
• W2021855741 hasRelatedWork W1485496002 @default.
• W2021855741 hasRelatedWork W2254436626 @default.
• W2021855741 hasRelatedWork W2265719637 @default.
• W2021855741 hasRelatedWork W2377508713 @default.
• W2021855741 hasRelatedWork W2904852120 @default.
• W2021855741 hasRelatedWork W4213025840 @default.
• W2021855741 hasRelatedWork W4286276703 @default.
• W2021855741 hasRelatedWork W4310520215 @default.
• W2021855741 hasRelatedWork W599055097 @default.
• W2021855741 hasRelatedWork W830136518 @default.

• next