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dc.contributor.advisorPetillot, Professor Yvan
dc.contributor.advisorLane, Professor David
dc.contributor.authorMaurelli, Francesco
dc.date.accessioned2015-07-13T14:58:56Z
dc.date.available2015-07-13T14:58:56Z
dc.date.issued2014-05
dc.identifier.urihttp://hdl.handle.net/10399/2818
dc.description.abstractThis thesis studies the problem of intelligent localisation for an autonomous underwater vehicle (AUV). After an introduction about robot localisation and specific issues in the underwater domain, the thesis will focus on passive techniques for AUV localisation, highlighting experimental results and comparison among different techniques. Then, it will develop active techniques, which require intelligent decisions about the steps to undertake in order for the AUV to localise itself. The undertaken methodology consisted in three stages: theoretical analysis of the problem, tests with a simulation environment, integration in the robot architecture and field trials. The conclusions highlight applications and scenarios where the developed techniques have been successfully used or can be potentially used to enhance the results given by current techniques. The main contribution of this thesis is in the proposal of an active localisation module, which is able to determine the best set of action to be executed, in order to maximise the localisation results, in terms of time and efficiency.en_US
dc.language.isoenen_US
dc.publisherHeriot-Watt Universityen_US
dc.publisherEngineering and Physical Sciencesen_US
dc.rightsAll items in ROS are protected by the Creative Commons copyright license (http://creativecommons.org/licenses/by-nc-nd/2.5/scotland/), with some rights reserved.
dc.titleProbablistic approaches for intelligent AUV localisationen_US
dc.typeThesisen_US


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