Title:
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Underwater multi-target tracking with particle filters
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Author:
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Masmitjà Rusiñol, Ivan; Gomáriz Castro, Spartacus; Río Fernandez, Joaquín del; Bouvet, Pierre-Jean; Aguzzi, Jacopo
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica; Universitat Politècnica de Catalunya. SARTI-MAR - Sistemes d'Adquisició Remota de dades i Tractament de la Informació en el Medi Marí |
Abstract:
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Abstract:
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Robotic platforms communication and interoperability is of relevance for marine science and industrial monitoring. We present results of a particle filter study based on underwater Multi-Target Tracking (MTT) using Autonomous Underwater Vehicles (AUV). The main goal was to assess the viability of using a single surface vehicle as a mobile landmark to track and follow a fleet of underwater targets, each one equipped with an acoustic tag where the slant ranges between the surface vehicle and the underwater targets are the unique input for the filters. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Nàutica -Underwater acoustics -Autonomous vehicles -Autonomous underwater vehicles -Mobile robots -Particle filtering (numerical methods) -Target tracking -Interoperability -Particle filter study -Single surface vehicle -Underwater targets -Particle filters -Vehicles autònoms -Acústica submarina |
Rights:
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Document type:
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Article - Published version Conference Object |
Published by:
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Institute of Electrical and Electronics Engineers (IEEE)
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