Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2505.04095 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866917323501207552 |
|---|---|
| author | Wen, Shuo Meriaux, Edwin Guzmán, Mariana Sosa Morissette, Charlotte Si, Chloe Baghi, Bobak Dudek, Gregory |
| author_facet | Wen, Shuo Meriaux, Edwin Guzmán, Mariana Sosa Morissette, Charlotte Si, Chloe Baghi, Bobak Dudek, Gregory |
| contents | Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS receivers. Existing approaches, such as inertial navigation, Doppler Velocity Loggers (DVL), SLAM, and acoustic-based methods, face challenges like error accumulation and high computational complexity. Therefore, a more efficient and scalable solution remains necessary. This paper proposes an alternative approach that leverages an aerial drone equipped with GNSS localization to track and localize a marine robot once it is near the surface of the water. Our results show that this novel adaptation enables accurate single and multi-robot marine robot localization. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_04095 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Scalable Aerial GNSS Localization for Marine Robots Wen, Shuo Meriaux, Edwin Guzmán, Mariana Sosa Morissette, Charlotte Si, Chloe Baghi, Bobak Dudek, Gregory Robotics Computer Vision and Pattern Recognition Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS receivers. Existing approaches, such as inertial navigation, Doppler Velocity Loggers (DVL), SLAM, and acoustic-based methods, face challenges like error accumulation and high computational complexity. Therefore, a more efficient and scalable solution remains necessary. This paper proposes an alternative approach that leverages an aerial drone equipped with GNSS localization to track and localize a marine robot once it is near the surface of the water. Our results show that this novel adaptation enables accurate single and multi-robot marine robot localization. |
| title | Scalable Aerial GNSS Localization for Marine Robots |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2505.04095 |