Location, perception, communication
Marine Robotics Sensing, modeling and control

The term "location" refers to determining the absolute (e.g. geographical coordinates) or relative (e.g. position within a pipe) position of a vehicle.

In the marine or underwater environment, good positioning is an essential factor in mission success. Whether in the vicinity of offshore infrastructure or in a natural environment, poor positioning can result in collisions or even the loss of the vehicle. What's more, in the particular case of inspection, the data collected has little meaning if it is not located correctly.

The term "attitude" refers to the vehicle's three-dimensional orientation (e.g. roll, pitch and yaw angles). Measuring attitude is essential for controlling the vehicle and for correcting...