@inproceedings{a2e525471f3d4329bad1dc6312f4ffaa,
title = "Cooperative localization of an acoustic using towed hydrophone arrays",
abstract = "We describe field experiments in which a team of autonomous underwater vehicles cooperatively localize an acoustic source. The team implements a data fusion algorithm to enhance the localization performance of each individual vehicle and implements a decentralized motion control algorithm so that each vehicle maneuvers to minimize the joint localization error of the acoustic source. Each autonomous underwater vehicle is equipped with a custom-designed towed hydrophone array that measures the bearing angle between the array and the acoustic source. The noise statistics of the hydrophone arrays are state-dependent, and a generalized Kalman filter that accounts for the state-dependant measurement noise is utilized for localization.",
author = "Gadre, \{Aditya S.\} and Maczka, \{Darren K.\} and Davide Spinello and McCarter, \{Brian R.\} and Stilwell, \{Daniel J.\} and Wayne Neu and Roan, \{Michael J.\} and Hennage, \{John B.\}",
year = "2008",
doi = "10.1109/AUV.2008.5290529",
language = "English (US)",
isbn = "9781424429394",
series = "2008 IEEE/OES Autonomous Underwater Vehicles, AUV 2008",
booktitle = "2008 IEEE/OES Autonomous Underwater Vehicles, AUV 2008",
note = "2008 IEEE/OES Autonomous Underwater Vehicles, AUV 2008 ; Conference date: 13-10-2008 Through 14-10-2008",
}