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Adaptive Iso-Altitude Tracking and Terrain Reconstruction by Submarine Vehicle Formations

Kalantar, Shahab; Zimmer, Uwe


In this paper, we address the problem of partial reconstruction of underwater landscape in a region using a group of formations of autonomous cooperating vehicles. Sampling is adaptive in that only a small set of iso-contours are sampled, as opposed to the more traditional strategy of sampling along pre-defined trajectories sweeping unnecessary areas. To achieve this, we model the environment as a tesselation of the plane by triangular elements with linear interpolation inside each element....[Show more]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
Source: Proceedings of ACRA 2007


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