An Overview of Autonomous Underwater Vehicle Research and Testbed at PeRL
dc.contributor.author | Brown, Hunter | |
dc.contributor.author | Kim, Ayoung | |
dc.contributor.author | Eustice, Ryan M. | |
dc.date.accessioned | 2009-12-02T14:01:14Z | |
dc.date.available | 2009-12-02T14:01:14Z | |
dc.date.issued | 2009 | |
dc.identifier.citation | Marine Technology Society Journal, #43 , 2009, p33-47 <http://hdl.handle.net/2027.42/64455> | en_US |
dc.identifier.uri | https://hdl.handle.net/2027.42/64455 | |
dc.description.abstract | This article provides a general overview of the autonomous underwater vehicle (AUV) research thrusts being pursued within the Perceptual Robotics Laboratory (PeRL) at the University of Michigan. Founded in 2007, PeRL’s research centers on improving AUV autonomy via algorithmic advancements in environmentally-based perceptual feedback for real-time mapping, navigation, and control. Our three major research areas are: (1) real-time visual simultaneous localization and mapping (SLAM); (2) cooperative multi-vehicle navigation; and (3) perception-driven control. Pursuant to these research objectives PeRL has developed a new multi-AUV SLAM testbed based upon a modified Ocean-Server Iver2 AUV platform. PeRL upgraded the vehicles with additional navigation and perceptual sensors for underwater SLAM research. In this article we detail our testbed development, provide an overview of our major research thrusts, and put into context how our modified AUV testbed enables experimental real-world validation of these algorithms. | en_US |
dc.description.sponsorship | This work is supported in part through grants from the National Science Foundation (Award #IIS 0746455), the Office of Naval Research (Award #N00014-07-1-0791), and a NOAA Ocean Exploration grant (Award #WC133C08SE4089). | en_US |
dc.format.extent | 1454906 bytes | |
dc.format.mimetype | application/pdf | |
dc.language.iso | en_US | en_US |
dc.publisher | Marine Technology Society | en_US |
dc.subject | Underwater | en_US |
dc.subject | AUV | en_US |
dc.subject | Robot | en_US |
dc.subject | Autonomous | en_US |
dc.subject | SLAM | en_US |
dc.subject | Navigation | en_US |
dc.subject | Mapping | en_US |
dc.subject | Vehicle | en_US |
dc.title | An Overview of Autonomous Underwater Vehicle Research and Testbed at PeRL | en_US |
dc.type | Article | en_US |
dc.subject.hlbsecondlevel | Naval Architecture and Marine Engineering | |
dc.subject.hlbtoplevel | Engineering | |
dc.description.peerreviewed | Peer Reviewed | en_US |
dc.contributor.affiliationum | Naval Architecture and Marine Engineering, Department of | en_US |
dc.contributor.affiliationother | Marine Hydrodynamics Laboratory | en_US |
dc.contributor.affiliationumcampus | Ann Arbor | en_US |
dc.description.bitstreamurl | http://deepblue.lib.umich.edu/bitstream/2027.42/64455/1/hbrown-2009a.pdf | |
dc.identifier.source | Marine Technology Society Journal | en_US |
dc.owningcollname | Naval Architecture & Marine Engineering (NA&ME) |
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