|Title||An overview of AUV algorithms research and testbed at the University of Michigan|
|Publication Type||Conference Paper|
|Year of Publication||2008|
|Authors||Eustice R., Brown HC, Kim A|
|Conference Name||2008 IEEE/OES Autonomous Underwater Vehicles (AUV)2008 IEEE/OES Autonomous Underwater Vehicles|
|Conference Location||Woods Hole, MA|
|Keywords||SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM)|
This paper provides a general overview of the autonomous underwater vehicle (AUV) research projects being pursued within the Perceptual Robotics Laboratory (PeRL) at the University of Michigan. Founded in 2007, PeRL's research thrust is centered around improving AUV autonomy via algorithmic advancements in sensor-driven perceptual feedback for environmentally-based real-time mapping, navigation, and control. In this paper we discuss our three major research areas of: (1) real-time visual simultaneous localization and mapping (SLAM); (2) cooperative multi-vehicle navigation; and (3) perception-driven control. Pursuant to these research objectives, PeRL has acquired and significantly modified two commercial off-the-shelf (COTS) Ocean-Server Technology, Inc. Iver2 AUV platforms to serve as a real-world engineering testbed for algorithm development and validation. Details of the design modification, and related research enabled by this integration effort, are discussed herein.