Abstract

This paper presents initial steps towards developing autonomous navigation capabilities for cooperating underwater robots. Specifically, Simultaneous Localization and Mapping, or SLAM, capabilities are investigated for a group of micro vehicles each equipped with a single downward facing camera and an Inertial Measurement Unit (IMU). To verify the approach, simulations of the multi-robot SLAM running in a 3D environment were conducted, where vehicles in close proximity of one another exchange maps to improve localization.

Disciplines

Computer Sciences

Number of Pages

11

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URL: http://digitalcommons.calpoly.edu/csse_fac/82