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In this paper we propose an approach to SLAM suitable for bathymetric mapping by an autonomous underwater vehicle (AUV). AUVs typically do not have access to GPS while underway and the survey areas of interest are unlikely to contain features that can easily be identified and tracked using bathymetric sonar. We demonstrate how the uncertainty in the vehicle state can be modeled using a particle filter...
We propose a method to improve the geo-referenced accuracy and self-consistency of bathymetric maps generated by autonomous underwater vehicles (AUVs), where the navigation solution is prone to drift when GPS or other methods of absolute positioning are unavailable. This is accomplished using a non-feature based approach to simultaneous localization and mapping (SLAM) that utilizes a 2D grid structure...
During 2004-08 we have conducted a series of five expeditions mobilizing the ABE autonomous underwater vehicle aboard various research ships of opportunity to prospect for and locate sites of hydrothermal activity along sections of back-arc basin and/or mid-ocean ridge where mid-water hydrothermal plumes had previously been detected. In all circumstances, to date, these expeditions have led to discovery...
We report results from an investigation of the geologic processes controlling hydrothermal activity along the previously-unstudied southern Mid-Atlantic Ridge (3–7°S). Our study employed the NOC (UK) deep-tow sidescan sonar instrument, TOBI, in concert with the WHOI (USA) autonomous underwater vehicle, ABE, to collect information concerning hydrothermal plume distributions in the water column co-registered...
The Arctic seafloor remains one of the last unexplored areas on Earth. Exploration of this unique environment using standard remotely operated oceanographic tools has been obstructed by the dense Arctic ice cover. In the summer of 2007 the Arctic Gakkel Vents Expedition (AGAVE) was conducted with the express intention of understanding aspects of the marine biology, chemistry and geology associated...
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