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Experiments in Navigation and Mapping with a Hovering AUV

Abstract : This paper describes the basic control, navigation, and mapping methods and experiments a hovering autonomous underwater vehicle (AUV) designed to explore flooded cenotes in Mexico as part of the DEPTHX project. We describe the low level control system of the vehicle, and present a dead reckoning navigation filter that compensates for frequent Doppler velocity log (DVL) dropouts. Sonar data collected during autonomous excursions in a limestone quarry are used to generate a map of the quarry geometry.
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https://hal.inria.fr/inria-00202698
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Submitted on : Monday, January 7, 2008 - 6:01:16 PM
Last modification on : Monday, January 14, 2008 - 3:12:01 PM
Long-term archiving on: : Thursday, September 27, 2012 - 1:46:48 PM

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George Kantor, Nathaniel Fairfield, Dominic Jonak, David Wettergreen. Experiments in Navigation and Mapping with a Hovering AUV. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. ⟨inria-00202698⟩

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