This paper outlines an architecture for underwater acoustic cooperative localization. Our system leverages communication within an acoustic network to both share navigation information and measure the relative range between vehicles. We employ a factor graph framework for vehicle position estimation. The underlying structure of the factor graph formulation provides a low-bandwidth estimation framework that is tolerant to communication dropout. We detail the hardware and software used to implement a three vehicle cooperative network and provide a performance summary over several field trials.
['Jeffrey M. Walls', 'Ryan M. Eustice']
An Architecture for Cooperative Localization in Underwater Acoustic Networks