{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:52:46Z","timestamp":1760233966534,"version":"build-2065373602"},"reference-count":21,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2021,3,1]],"date-time":"2021-03-01T00:00:00Z","timestamp":1614556800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"U.S. Naval Facilities Engineering Command (NAVFAC)","award":["N00014-17-1-2581"],"award-info":[{"award-number":["N00014-17-1-2581"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a decentralized communication planning algorithm for cooperative terrain-based navigation (dec-TBN) with autonomous underwater vehicles. The proposed algorithm uses forward simulation to approximate the value of communicating at each time step. The simulations are used to build a directed acyclic graph that can be searched to provide a minimum cost communication schedule. Simulations and field trials are used to validate the algorithm. The simulations use a real-world bathymetry map from Lake Nighthorse, CO, and a sensor model derived from an Ocean Server Iver2 vehicle. The simulation results show that the algorithm finds a communication schedule that reduces communication bandwidth by 86% and improves robot localization by up to 27% compared to non-cooperative terrain-based navigation. Field trials were conducted in Foster Reservoir, OR, using two Riptide Autonomous Solutions micro-unmanned underwater vehicles. The vehicles collected GPS, altimeter, acoustic communications, and dead reckoning data while following paths on the surface of the reservoir. The data were used to evaluate the planning algorithm. In three of four missions, the planning algorithm improved dec-TBN localization while reducing acoustic communication bandwidth by 56%. In the fourth mission, dec-TBN performed better when using full communications bandwidth, but the communication policy for that mission maintained 86% of the localization accuracy while using 9% of the communications. These results indicate that the presented communication planning algorithm can maintain or improve dec-TBN accuracy while reducing the number of communications used for localization.<\/jats:p>","DOI":"10.3390\/s21051675","type":"journal-article","created":{"date-parts":[[2021,3,1]],"date-time":"2021-03-01T10:25:18Z","timestamp":1614594318000},"page":"1675","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Communication Planning for Cooperative Terrain-Based Underwater Localization"],"prefix":"10.3390","volume":"21","author":[{"given":"Jacob","family":"Anderson","sequence":"first","affiliation":[{"name":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR 97331, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6502-8950","authenticated-orcid":false,"given":"Geoffrey A.","family":"Hollinger","sequence":"additional","affiliation":[{"name":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR 97331, USA"}]}],"member":"1968","published-online":{"date-parts":[[2021,3,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Furlong, M.E., Paxton, D., Stevenson, P., Pebody, M., McPhail, S.D., and Perrett, J. (2012, January 24\u201327). Autosub long range: A long range deep diving AUV for ocean monitoring. Proceedings of the 2012 IEEE\/OES Autonomous Underwater Vehicles (AUV), Southampton, UK.","DOI":"10.1109\/AUV.2012.6380737"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"451","DOI":"10.1016\/j.margeo.2014.03.012","article-title":"Autonomous Underwater Vehicles (AUVs): Their past, present and future contributions to the advancement of marine geoscience","volume":"352","author":"Wynn","year":"2014","journal-title":"Mar. Geol."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Fossum, T.O., Fragoso, G.M., Davies, E.J., Ullgren, J.E., Mendes, R., Johnsen, G., Ellingsen, I., Eidsvik, J., Ludvigsen, M., and Rajan, K. (2019). Toward adaptive robotic sampling of phytoplankton in the coastal ocean. Sci. Robot., 4.","DOI":"10.1126\/scirobotics.aav3041"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"447","DOI":"10.1002\/rob.21832","article-title":"Terrain-aided navigation for long-endurance and deep-rated autonomous underwater vehicles","volume":"36","author":"Salavasidis","year":"2019","journal-title":"J. Field Robot."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1187","DOI":"10.1007\/s10514-015-9508-2","article-title":"Cooperative bathymetry-based localization using low-cost autonomous underwater vehicles","volume":"40","author":"Tan","year":"2016","journal-title":"Auton. Robot."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1117\/12.959127","article-title":"Terrain contour matching (TERCOM): A cruise missile guidance aid","volume":"Volume 238","author":"Golden","year":"1980","journal-title":"Image Processing for Missile Guidance"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Maurelli, F., Krupinski, S., Petillot, Y., and Salvi, J. (2008, January 15\u201318). A particle filter approach for AUV localization. Proceedings of the IEEE\/MTS OCEANS Conference, Quebec City, QC, Canada.","DOI":"10.1109\/OCEANS.2008.5152014"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Tian, Y., Khosoussi, K., Giamou, M., How, J.P., and Kelly, J. (2018). Near-optimal budgeted data exchange for distributed loop closure detection. arXiv.","DOI":"10.15607\/RSS.2018.XIV.071"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Giamou, M., Khosoussi, K., and How, J.P. (2018, January 21\u201325). Talk resource-efficiently to me: Optimal communication planning for distributed loop closure detection. Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, Australia.","DOI":"10.1109\/ICRA.2018.8460783"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Tian, Y., Khosoussi, K., and How, J.P. (2019). A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees. arXiv.","DOI":"10.1007\/978-3-030-44051-0_25"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Kassir, A., Fitch, R., and Sukkarieh, S. (2016, January 9\u201314). Communication-efficient motion coordination and data fusion in information gathering teams. Proceedings of the 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea.","DOI":"10.1109\/IROS.2016.7759773"},{"key":"ref_12","unstructured":"Williamson, S., Gerding, E., and Jennings, N. (2008, January 12\u201316). A principled information valuation for communications during multi-agent coordination. Proceedings of the AAMAS Workshop on Multi-Agent Sequential Decision Making in Uncertain Domains, Estoril, Portugal."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Unhelkar, V.V., and Shah, J.A. (2016, January 12\u201317). Contact: Deciding to communicate during time-critical collaborative tasks in unknown, deterministic domains. Proceedings of the Thirtieth AAAI Conference on Artificial Intelligence, Phoenix, AZ, USA.","DOI":"10.1609\/aaai.v30i1.10123"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1007\/s10514-019-09849-0","article-title":"Optimizing multi-robot communication under bandwidth constraints","volume":"44","author":"Marcotte","year":"2020","journal-title":"Auton. Robot."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Barci\u015b, M., Barci\u015b, A., and Hellwagner, H. (2020). Information Distribution in Multi-Robot Systems: Utility-Based Evaluation Model. Sensors, 20.","DOI":"10.3390\/s20030710"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Best, G., Forrai, M., Mettu, R.R., and Fitch, R. (2018, January 21\u201325). Planning-Aware Communication for Decentralised Multi-Robot Coordination. Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, Australia.","DOI":"10.1109\/ICRA.2018.8460617"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"629","DOI":"10.1109\/TRO.2017.2653196","article-title":"Path planning with spatiotemporal optimal stopping for stochastic mission monitoring","volume":"33","author":"Best","year":"2017","journal-title":"IEEE Trans. Robot."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Carreno, S., Wilson, P., Ridao, P., and Petillot, Y. (2010, January 20\u201323). A survey on terrain based navigation for AUVs. Proceedings of the IEEE\/MTS OCEANS Conference, Seattle, WA, USA.","DOI":"10.1109\/OCEANS.2010.5664372"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"250","DOI":"10.1016\/j.oceaneng.2017.04.047","article-title":"Survey on advances on terrain based navigation for autonomous underwater vehicles","volume":"139","author":"Melo","year":"2017","journal-title":"Ocean Eng."},{"key":"ref_20","unstructured":"Survey, U.S.G. (2020, November 01). National Water Information System, Fosters Lake, Available online: https:\/\/waterdata.usgs.gov\/nwis\/uv?cb_62614=on&format=gif_default&site_no=14186600."},{"key":"ref_21","unstructured":"Sch\u00f6n, T.B., Gustafsson, F., and Karlsson, R. (2011). The particle filter in practice. The Oxford Handbook of Nonlinear Filtering, Oxford University Press."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/5\/1675\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T05:30:46Z","timestamp":1760160646000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/5\/1675"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,3,1]]},"references-count":21,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2021,3]]}},"alternative-id":["s21051675"],"URL":"https:\/\/doi.org\/10.3390\/s21051675","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2021,3,1]]}}}