Localisation in Marine Robotics
In recent years, long-term autonomy and persistent autonomy have become key areas of interest for marine robotics researchers. The current generation of Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vessels (ASVs) have generally limited forms of autonomy and understanding of the environment. This talk addresses the need of greater autonomy and capabilities, improving the cognitive and intelligent layer of marine robotics. The presentation will focus on intelligent localisation techniques, both underwater and on surface, aided by semantic world modelling, fed by sensor processing – sonar underwater, lidar on surface. Results in simulation and in field trials will be presented, and the role of active techniques, involving planning, will be highlighted.