Data Fusion for Large-Scale Cooperative Autonomous Mapping

Lead Pi: John Leonard · 3/2004 - 2/2006

Project Personnel:

Project number: 2004-R/RD-24

The researchers are developing and experimentally validating new algorithms for cooperative ocean mapping using multiple autonomous underwater vehicles (AUVs). They also are extending the framework of simultaneous localization and mapping for AUVs to accommodate fusion of data from multiple vehicles, mapping natural terrain features, and re-mapping dynamic environments at different snapshots in time. Such advances in navigation and sensing for AUVs can aid the scientific community in underwater searches, mapping inspection and repair, climate change assessment, and marine habitat monitoring.