CONCURRENT MAPPING AND LOCALIZATION FOR MULTIPLE AUTONOMOUS UNDERWATER VEHICLES

This paper considers the problem of cooperative mapping and navigation (CMAN) by multiple autonomous underwater vehicles (AUVs). The goal is for several AUVs to concurrently build maps of an unknown environment, and to use these maps for navigation. This work builds on our previous research in development of concurrent mapping and localization (CML) techniques for a single vehicle. In this paper, cooperative stochastic mapping is proposed as a new framework for feature-based CML by multiple vehicles. Properties of the cooperative stochastic mapping algorithm are illustrated using simulations and experiments with real data.

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