Experiments in robotic boat localization

— We are motivated by the prospect of automating microbial observing systems. To this end we have designed and built a robotic boat as part of a sensor network for monitoring aquatic environments. In this paper, we describe a dynamic model of the boat, an algorithm for estimating its location by integrating various sensor inputs, a controller for waypoint following and extensive field experiments (over 10 km aggregate) to validate each of these. We test the localization accuracy in different sensing regimes as a prelude to accommodating sensing failures.

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Amit Dhariwal, Gaurav S. Sukhatme
• Keywords: IROS 2007, Microbial Observing Systems, Robotic Boat, Robotics, Sensor Network