Conferences
A Trajectory Based Framework to Perform Underwater SLAM using Imaging Sonar Scans
This paper proposes a framework to perform Simultaneous Localization and Mapping (SLAM) using the scans gathered by a Mechanically Scanned Imaging Sonar (MSIS). To this end, the acoustic profiles provided by the MSIS are processed to obtain range data. Also, dead...
Underwater Scan Matching using a Mechanical Scanned Imaging Sonar
Underwater environments are extremely challenging to perform localization. Autonomous Underwater Vehicles (AUV) are usually endowed with acoustic devices such as a Mechanically Scanned Imaging Sonar (MSIS). This sensor scans the environment by emitting ultrasonic...
Visual Localization using Ground Points
Towards Monocular Localization Using Ground Points
A Multi-Robot task Allocation Swarm Method to Execute Tasks with Deadlines
Very few work has been done to test multi-robot task allocation (MRTA) swarm algorithms in real time systems, where each task must be executed before a deadline. In this paper a comparative study has been done between several swarm algorithms and a centralized task...