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The NOPTILUS project: Autonomous multi-AUV navigation for exploration of unknown environments

Chatzichristofis, S; Kapoutsis, A; Kosmatopoulos, EB; Doitsidis, L; Rovas, D; De Sousa, JB; (2016) The NOPTILUS project: Autonomous multi-AUV navigation for exploration of unknown environments. In: (Proceedings) 3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles. (pp. pp. 373-380). Elsevier Green open access

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Abstract

Current multi-AUV systems are far from being capable of fully autonomously taking over real-life complex situation-awareness operations. As such operations require advanced reasoning and decision-making abilities, current designs have to heavily rely on human operators. The involvement of humans, however, is by no means a guarantee of performance; humans can easily be over-whelmed by the information overload, fatigue can act detrimentally to their performance, properly coordinating vehicles actions is hard, and continuous operation is all but impossible. Within the European funded project NOPTILUS we take the view that an effective fully-autonomous multi-AUV concept/system, is capable of overcoming these shortcomings, by replacing human-operated operations by a fully autonomous one. In this paper, we present a new approach that is able to efficiently and fully-autonomously navigate a team of AUVs when deployed in exploration of unknown static and dynamic environments towards providing accurate static/dynamic maps of the environment. Additionally to achieving to efficiently and fully-autonomously navigate the AUV team, the proposed approach possesses certain advantages such as its extremely computational simplicity and scalability, and the fact that it can very straightforwardly embed and type of physical or other constraints and limitations (e.g., obstacle avoidance, nonlinear sensor noise models, localization fading environments, etc).

Type: Proceedings paper
Title: The NOPTILUS project: Autonomous multi-AUV navigation for exploration of unknown environments
Event: 3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles
Location: Porto, Portugal
Dates: 10-12 April 2012
ISBN-13: 9783902823199
Open access status: An open access version is available from UCL Discovery
DOI: 10.3182/20120410-3-PT-4028.00062
Publisher version: https://doi.org/10.3182/20120410-3-PT-4028.00062
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: SLAM-TT, Exploration, AUV, autonomous navigation
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of the Built Environment
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of the Built Environment > Bartlett School Env, Energy and Resources
URI: https://discovery.ucl.ac.uk/id/eprint/10064180
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