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About

About

Aníbal Matos received a PhD in Electrical and Computer Engineering form Porto University in 2001. He is currently coordinator of the Centre for Robotics and Autonomous Systems at INESC TEC and also an assistant professor at the Faculty of Engineering of Porto University. His main research interests are related to perception, sensing, navigation, and control of autonomous marine robots, being the author or co-author of more than 80 publications in international journals and conferences. He has participated and lead several research projects on marine robotics and its application to monitoring, inspection, search and rescue, and defense.

Interest
Topics
Details

Details

015
Publications

2017

Survey on advances on terrain based navigation for autonomous underwater vehicles

Authors
Melo, J; Matos, A;

Publication
Ocean Engineering

Abstract
The autonomy of robotic underwater vehicles is dependent on the ability to perform long-term and long-range missions without need of human intervention. While current state-of-the-art underwater navigation techniques are able to provide sufficient levels of precision in positioning, they require the use of support vessels or acoustic beacons. This can pose limitations on the size of the survey area, but also on the whole cost of the operations. Terrain Based Navigation is a sensor-based navigation technique that bounds the error growth of dead-reckoning using a map with terrain information, provided that there is enough terrain variability. An obvious advantage of Terrain Based Navigation is the fact that no external aiding signals or devices are required. Because of this unique feature, terrain navigation has the potential to dramatically improve the autonomy of Autonomous Underwater Vehicles (AUVs). This paper consists on a comprehensive survey on the recent developments for Terrain Based Navigation methods proposed for AUVs. The survey includes a brief introduction to the original Terrain Based Navigation formulations, as well as a description of the algorithms, and a list of the different implementation alternatives found in the literature. Additionally, and due to the relevance, Bathymetric SLAM techniques will also be discussed. © 2017 Elsevier Ltd

Supervised
thesis

2017

Mapeamento e odometria visual em ambiente subáquatico

Author
Alexandra Pereira Nunes

Institution
UP-FEUP

2017

Navegação e mapeamento subaquáticos simultâneos

Author
Ana Rita da Silva Gaspar

Institution
UP-FEUP

2017

Optimal control of AUVs

Author
Joana Filipa Gouveia Fonseca

Institution
UP-FEUP

2017

Rover submarino

Author
José Tiago Cardoso Meireles

Institution
UP-FEUP

2017

Navegação Acústica Passiva

Author
Rui Filipe Pinho da Silva

Institution
UP-FEUP