Objectives

Navigation of marine robots has been known as one of the most challenging topics in robotics. Navigation methods for marine robots consisting of IMU/DVL-based deal reckoning and any updates obtained from recognition of natural or artificial environmental features have been proposed. Each method has unique characteristics with their respective pros and cons. Considering navigation in larger areas, acoustic-based navigation methods have been successfully demonstrated with respect to robustness. Here, range, bearing, and/or both information effectively correct and bound cumulative error growth. Additionally, it is showing great promise for multiple robots such as homogeneous or heterogeneous configurations, including underwater and surface robots. In these multiple robots collaborations, we are trying to build a low-cost navigation system without integrated IMU/DVL systems; not only for a follower, but also for the team leader.

For this, we consider the basic fundamentals of acoustics, and implement various filtering and estimation algorithms to improve signal quality. Now we need to do something more to increase overall performance and to lower the cost of the system itself, and its operation.

In this workshop, we will share the-state-of-the art technologies of acoustic-based navigation including difficulties and limitations first. Then we will propose new ideas to break through and describe recent results of both theory and practice. Here, we unite experts in the interdisciplinary field of autonomous aquatic robotics to integrate acoustics to bridge the gap between (1) modeling and prediction for persistent, closed-loop control, (2) online learning in highly dynamic and uncertain environments, and (3) coordination of heterogeneous multi-robot teams. Specifically we highlight new work that lies at the intersection of robotics, control theory, artificial intelligence, machine learning, ocean science, long-term autonomy and transport theory.

At the end of the workshop, we will be looking for collaborations by sharing data, experimental setup, environment, and ideas.


Topics of interest
    • Basic issues: accurate acoustic measurement for underwater navigation such as range, bearing, and clock synchronization.
    • Theory for acoustic navigation.
    • Practical issues for acoustic navigation.
    • Acoustic navigation for multiple robots.
    • Idea for collaboration.