Low power, non-intrusive 3D localization for underwater mobile robots
Abstract Autonomous Underwater Vehicles (AUVs) face persistent challenges in localization compared to their counterparts on the ground due to limitations with methods like Global Positioning System (GPS). We propose a novel system for localization, Pisces, that leverages the Angle of Arrival (AoA) a...
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| Language: | English |
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Nature Portfolio
2025-05-01
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| Series: | Communications Engineering |
| Online Access: | https://doi.org/10.1038/s44172-025-00422-5 |
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| author | Suryansh Sharma Daniel Van Passen R. Venkatesha Prasad Kaushik Chowdhury |
| author_facet | Suryansh Sharma Daniel Van Passen R. Venkatesha Prasad Kaushik Chowdhury |
| author_sort | Suryansh Sharma |
| collection | DOAJ |
| description | Abstract Autonomous Underwater Vehicles (AUVs) face persistent challenges in localization compared to their counterparts on the ground due to limitations with methods like Global Positioning System (GPS). We propose a novel system for localization, Pisces, that leverages the Angle of Arrival (AoA) and Received Signal Strength Ratio (RSSR) of robot-mounted blue LED signals. This method provides a spectrally efficient training-free solution for estimating 3D underwater positions. The system remains effective despite high water turbidity with a relatively low impact on marine life compared to similar acoustic methods. Pisces is less complex, computationally efficient, and uses less power than camera-based solutions. Pisces enables robust relative localization, especially in swarms of robots with the potential for additional applications like docking. We demonstrate high localization accuracy with a Mean Absolute Error (MAE) of 0.031 m at 0.32 m separation and 0.16 m MAE at 1 m separation. Moreover, it achieved this with minimal power consumption, utilizing only 11 mA of transmitter LED current and performing 3D localization within 10 ms for distances up to 3 m. |
| format | Article |
| id | doaj-art-0e32ec1a4f4f4f429a3c6f38b0b4a240 |
| institution | OA Journals |
| issn | 2731-3395 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Communications Engineering |
| spelling | doaj-art-0e32ec1a4f4f4f429a3c6f38b0b4a2402025-08-20T01:53:12ZengNature PortfolioCommunications Engineering2731-33952025-05-014111210.1038/s44172-025-00422-5Low power, non-intrusive 3D localization for underwater mobile robotsSuryansh Sharma0Daniel Van Passen1R. Venkatesha Prasad2Kaushik Chowdhury3Networked Systems Group, Delft University of TechnologyNetworked Systems Group, Delft University of TechnologyNetworked Systems Group, Delft University of TechnologyDepartment of Electrical & Computer Engineering, The University of Texas at AustinAbstract Autonomous Underwater Vehicles (AUVs) face persistent challenges in localization compared to their counterparts on the ground due to limitations with methods like Global Positioning System (GPS). We propose a novel system for localization, Pisces, that leverages the Angle of Arrival (AoA) and Received Signal Strength Ratio (RSSR) of robot-mounted blue LED signals. This method provides a spectrally efficient training-free solution for estimating 3D underwater positions. The system remains effective despite high water turbidity with a relatively low impact on marine life compared to similar acoustic methods. Pisces is less complex, computationally efficient, and uses less power than camera-based solutions. Pisces enables robust relative localization, especially in swarms of robots with the potential for additional applications like docking. We demonstrate high localization accuracy with a Mean Absolute Error (MAE) of 0.031 m at 0.32 m separation and 0.16 m MAE at 1 m separation. Moreover, it achieved this with minimal power consumption, utilizing only 11 mA of transmitter LED current and performing 3D localization within 10 ms for distances up to 3 m.https://doi.org/10.1038/s44172-025-00422-5 |
| spellingShingle | Suryansh Sharma Daniel Van Passen R. Venkatesha Prasad Kaushik Chowdhury Low power, non-intrusive 3D localization for underwater mobile robots Communications Engineering |
| title | Low power, non-intrusive 3D localization for underwater mobile robots |
| title_full | Low power, non-intrusive 3D localization for underwater mobile robots |
| title_fullStr | Low power, non-intrusive 3D localization for underwater mobile robots |
| title_full_unstemmed | Low power, non-intrusive 3D localization for underwater mobile robots |
| title_short | Low power, non-intrusive 3D localization for underwater mobile robots |
| title_sort | low power non intrusive 3d localization for underwater mobile robots |
| url | https://doi.org/10.1038/s44172-025-00422-5 |
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