naa a22 4500 510793517 CHVBK 20180411083328.0 cr unu---uuuuu 180411e20130601xx s 000 0 eng 10.1007/s11277-013-1106-z doi (NATIONALLICENCE)springer-10.1007/s11277-013-1106-z Underwater Localization and Environment Mapping Using Wireless Robots [Elektronische Daten] [Sen Wang, Ling Chen, Huosheng Hu, Zhibin Xue, Wei Pan] Localization and mapping are the fundamental ability for underwater robots to carry out exploration and searching tasks autonomously. This paper presents a novel approach to localization and mapping of a school of wirelessly connected underwater robotic fish (URF). It is based on both Cooperative Localization Particle Filter (CLPF) scheme and Occupancy Grid Mapping Algorithm (OGMA). Using the probabilistic framework, the proposed CLPF has the major advantage that no prior knowledge about the kinematic model of URF is required to achieve accurate 3D localization. It works well when the number of mobile beacons is less than four, which is the minimum number for some traditional localization algorithms. The localization result of CLPF is fed into OGMA to build the environment map. The performance of the proposed algorithms is evaluated through extensive simulation experiments, and results verify the feasibility and effectiveness of the proposed strategy. Springer Science+Business Media New York, 2013 Wireless robots nationallicence Robotic fish nationallicence Particle filter nationallicence Localization and mapping nationallicence Wireless sensor networks nationallicence Wang Sen School of Computer Science and Electronic Engineering, University of Essex, CO4 3SQ, Colchester, UK aut Chen Ling School of Computer Science and Electronic Engineering, University of Essex, CO4 3SQ, Colchester, UK aut Hu Huosheng School of Computer Science and Electronic Engineering, University of Essex, CO4 3SQ, Colchester, UK aut Xue Zhibin College of Chemical Engineering, Qinghai University, Xining, China aut Pan Wei College of Information Science and Technology, Xiamen University, Xiamen, China aut Wireless Personal Communications Springer US; http://www.springer-ny.com 70/3(2013-06-01), 1147-1170 0929-6212 70:3<1147 2013 70 11277 https://doi.org/10.1007/s11277-013-1106-z text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11277-013-1106-z text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Wang Sen School of Computer Science and Electronic Engineering, University of Essex, CO4 3SQ, Colchester, UK aut NATIONALLICENCE 700 1- Chen Ling School of Computer Science and Electronic Engineering, University of Essex, CO4 3SQ, Colchester, UK aut NATIONALLICENCE 700 1- Hu Huosheng School of Computer Science and Electronic Engineering, University of Essex, CO4 3SQ, Colchester, UK aut NATIONALLICENCE 700 1- Xue Zhibin College of Chemical Engineering, Qinghai University, Xining, China aut NATIONALLICENCE 700 1- Pan Wei College of Information Science and Technology, Xiamen University, Xiamen, China aut NATIONALLICENCE 773 0- Wireless Personal Communications Springer US; http://www.springer-ny.com 70/3(2013-06-01), 1147-1170 0929-6212 70:3<1147 2013 70 11277 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer