{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,6,10]],"date-time":"2022-06-10T21:27:16Z","timestamp":1654896436366},"reference-count":10,"publisher":"World Scientific Pub Co Pte Lt","issue":"02","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Inf. Acquisition"],"published-print":{"date-parts":[[2011,6]]},"abstract":"<jats:p> The absence of GPS underwater makes navigation for autonomous underwater vehicles (AUVs) a challenge. Moreover, the use of static beacons in the form of a long baseline (LBL) array limits the operation area to a few square kilometers and requires substantial deployment effort before operations. In this paper, an algorithm for cooperative localization of AUVs is proposed. We describe a form of cooperative Simultaneous Localization and Mapping (SLAM). Each of the robots in the group is equipped with an Inertial Measurement Unit (IMU) and some of them have a range-only sonar sensor that can determine the relative distance to the others. Two estimators, in the form of a Kalman filter, process the available position information from all the members of the team and produce a pose estimate for every one of them. Simulation results are presented for a typical localization example of three AUVs formation in a large environment and indirect trajectory. The results show that our proposed method offers good localization accuracy, although a small number of low-cost sensors are needed for each vehicle, which validates that it is an economical and practical localization approach. <\/jats:p>","DOI":"10.1142\/s0219878911002380","type":"journal-article","created":{"date-parts":[[2011,12,20]],"date-time":"2011-12-20T15:07:35Z","timestamp":1324393655000},"page":"117-132","source":"Crossref","is-referenced-by-count":4,"title":["SIMULTANEOUS COOPERATIVE LOCALIZATION FOR AUVs USING RANGE-ONLY SENSORS"],"prefix":"10.1142","volume":"08","author":[{"given":"ALI JABAR","family":"RASHIDI","sequence":"first","affiliation":[{"name":"Ministry of Science, Research and Technology, 14665-1513, Tehran, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"SAEED","family":"MOHAMMADLOO","sequence":"additional","affiliation":[{"name":"Ministry of Science, Research and Technology, 14665-1513, Tehran, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2012,4,6]]},"reference":[{"key":"rf5","author":"Bryson M.","journal-title":"IEEE"},{"key":"rf12","first-page":"103","volume":"2","author":"Frese U.","journal-title":"Journal of Autonomous Robots"},{"key":"rf14","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008933826411"},{"key":"rf15","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2009.2026444"},{"key":"rf19","first-page":"1835","author":"Jason E.","journal-title":"Journal on Ocean Engineering"},{"key":"rf25","volume":"19","author":"Marco M. D.","journal-title":"Transactions on Robotics and Automation"},{"key":"rf26","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072515"},{"key":"rf29","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.803461"},{"key":"rf30","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2004.831619"},{"key":"rf31","doi-asserted-by":"publisher","DOI":"10.1049\/PBRA017E"}],"container-title":["International Journal of Information Acquisition"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219878911002380","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,7]],"date-time":"2019-08-07T02:35:25Z","timestamp":1565145325000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219878911002380"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,6]]},"references-count":10,"journal-issue":{"issue":"02","published-online":{"date-parts":[[2012,4,6]]},"published-print":{"date-parts":[[2011,6]]}},"alternative-id":["10.1142\/S0219878911002380"],"URL":"https:\/\/doi.org\/10.1142\/s0219878911002380","relation":{},"ISSN":["0219-8789","1793-6985"],"issn-type":[{"value":"0219-8789","type":"print"},{"value":"1793-6985","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,6]]}}}