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.


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    Title :

    Underwater Multi-Target Tracking with Particle Filters


    Contributors:
    Masmitja, I. (author) / Gomariz, S. (author) / Del Rio, J. (author) / Bouvet, P. J. (author) / Aguzzi, J. (author)


    Publication date :

    2018-05-01


    Size :

    994111 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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