Publisher DOI: 10.1109/ICRA.2019.8794088
Title: An integrated approach to navigation and control in micro underwater robotics using radio-frequency localization
Language: English
Authors: Dücker, Daniel-André 
Johannink, Tobias 
Kreuzer, Edwin 
Rausch, Viktor 
Solowjow, Eugen 
Issue Date: May-2019
Source: IEEE International Conference on Robotics and Automation : 8794088 (2019-05)
Abstract (english): Navigation and control are a largely unsolved problems for micro autonomous underwater vehicles (). The main challenges are due to the lack of accurate underwater localization systems, which fit on-board of . In this work, we present an integrated navigation and control architecture consisting of a low-cost embedded localization module and an underwater way-point tracking controller, which fulfills the requirements of . The performance of the navigation and control system is benchmarked in two different experimental scenarios.
Conference: 2019 International Conference on Robotics and Automation, ICRA 2019 
ISBN: 978-153866026-3
ISSN: 10504729
Institute: Mechanik und Meerestechnik M-13 
Type: InProceedings (Aufsatz / Paper einer Konferenz etc.)
Funded by: This research was supported by the German Research Foundation (DFG) under grant Kr752/36-1.
Project: Zustandsschätzung von Strömungsfeldern und Quellfindung mittels dynamisch positionierter Unterwasser-Sensorknoten. 
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