Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles

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Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles Liam Paull 1, 2, Mae Seto

Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles Liam Paull 1, 2, Mae Seto 2, 3 and John Leonard 1 1 MIT CSAIL, 2 University of New Brunswick, 3 Defense R&D Canada

Challenges and Potential Benefits Challenges: • High latency • Low bandwidth • Unacknowledged (broadcast)

Challenges and Potential Benefits Challenges: • High latency • Low bandwidth • Unacknowledged (broadcast) • Unreliable

Challenges and Potential Benefits Challenges: • High latency • Low bandwidth • Unacknowledged (broadcast)

Challenges and Potential Benefits Challenges: • High latency • Low bandwidth • Unacknowledged (broadcast) • Unreliable Potential Benefits: • Vehicles surface for GPS fix less frequently • Collected data more accurately localized through trajectory smoothing

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Underwater Cooperative Localization Time

Centralized Multi-AUV Pose Graph … …

Centralized Multi-AUV Pose Graph … …

Centralized Multi-AUV Pose Graph GPS measurements … …

Centralized Multi-AUV Pose Graph GPS measurements … …

Centralized Multi-AUV Pose Graph Compass measurements … …

Centralized Multi-AUV Pose Graph Compass measurements … …

Centralized Multi-AUV Pose Graph DVL derived odometry … …

Centralized Multi-AUV Pose Graph DVL derived odometry … …

Centralized Multi-AUV Pose Graph … Inter-vehicle range measurements …

Centralized Multi-AUV Pose Graph … Inter-vehicle range measurements …

Centralized Multi-AUV Pose Graph … … Problem: Too much data to send through Acomms

Centralized Multi-AUV Pose Graph … … Problem: Too much data to send through Acomms

Decentralized Multi-AUV Pose Graph … New factor connects other vehicle nodes at times of

Decentralized Multi-AUV Pose Graph … New factor connects other vehicle nodes at times of contact

Advantages of Proposed Approach • Guaranteed connectedness of pose graph • Data throughput scales

Advantages of Proposed Approach • Guaranteed connectedness of pose graph • Data throughput scales linearly with team size • Data throughput constant with time • No requirements on team hierarchy

2 AUVS, One Surfacing for GPS

2 AUVS, One Surfacing for GPS

Different Packet Loss Rates

Different Packet Loss Rates

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