Multi-robot exploration of underwater structures

Abstract This paper discusses a novel approach for the exploration of an underwater structure. A team of robots splits into two roles: certain robots approach the structure collecting detailed information (proximal observers) while the rest (distal observers) keep a distance providing an overview of the mission and assist in the localization of the proximal observers via a cooperative localization framework. Proximal observers utilize a novel robust switching model-based/visual-inertial odometry to overcome vision-based localization failures. Exploration strategies for the proximal and the distal observer are discussed.

@inproceedings{XanJos+22,
  author = {Marios Xanthidis and Bharat Joshi and Jason M. O'Kane and
            Ioannis Rekleitis},
  booktitle = {IFAC Conference on Control Applications in Marine Systems,
               Robotics, and Vehicles},
  title = {Multi-robot exploration of underwater structures},
  year = {2022}
}