Titlebook: Underwater Robots; Junku Yuh,Tamaki Ura,George A. Bekey Book 1996 Kluwer Academic Publishers 1996 Motion Planning.Navigation.Simulation.al

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Case-Based Path Planning for Autonomous Underwater Vehicles,ich approximately matches the current situation. In this paper, we outline a case-based reasoning scheme for path planning in autonomous underwater vehicle (AUV) missions. An annotated map database is employed to model the navigational environment. Routes which are used in earlier missions are repre

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A Terrain-Covering Algorithm for an AUV, algorithm is necessary for producing mosaicked images of the ocean floor. The basis of this three-dimensional motion planning algorithm is a new planar algorithm for nonsimply connected areas with boundaries of arbitrary shape. We show that this algorithm generalizes naturally to complex three-dime

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Three-Dimensional Stochastic Modeling Using Sonar Sensing for Undersea Robotics,t. Important characteristics shared by such applications are: (1) real-time constraints; (2) unstructured, three-dimensional terrain; (3) high-bandwidth sensors providing redundant, overlapping coverage; (4) lack of prior knowledge about the environment; and (5) inherent inaccuracy or ambiguity in s

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