Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 26, Issue 1, Pages 41-54Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364907073773
Keywords
AUV; long baseline acoustic navigation; terrain-following; automated nested survey; hydrothermal vent discovery
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This paper reports the development and at-sea deployment of a set of algorithms that have enabled the autonomous underwater vehicle ABE to conduct near-bottom surveys in the deep sea. Algorithms for long baseline acoustic positioning, terrain-following, and automated nested surveys are reported.
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