A multi-robot SLAM system for USVs and AUVs merges per-robot state estimates via inter-robot loop closures from perceptual data, yielding lower AUV localization errors than single-robot SLAM in real-world tests across three environments.
Relative Autonomy and Navigation for Command and Control of Low-Cost Autonomous Underwater Vehicles
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Above and Below: Heterogeneous Multi-robot SLAM Across Surface and Underwater Domains
A multi-robot SLAM system for USVs and AUVs merges per-robot state estimates via inter-robot loop closures from perceptual data, yielding lower AUV localization errors than single-robot SLAM in real-world tests across three environments.