Encyclopedia of Robotics

Living Edition
| Editors: Marcelo H. Ang, Oussama Khatib, Bruno Siciliano

Navigation for Underwater Vehicles

  • Liam PaullEmail author
  • Mae Seto
  • Sajad Saeedi
  • John J. Leonard
Living reference work entry
DOI: https://doi.org/10.1007/978-3-642-41610-1_15-1


Accurate navigation is vital for the safety and effectiveness of AUV missions. AUVs are now being used for a variety of tasks, including oceanographic surveys, demining, and bathymetric data collection in marine and riverine environments. Accurate location information is essential to ensure the utility of the gathered data for these applications, for example, to ensure adequate coverage a desired area for mapping missions, with no gaps.

Underwater vehicle navigation is challenging compared with terrestrial applications due to the unavailability of GPS and to the unique physics of sensing in the marine environment. Above water, most autonomous systems rely on radio or spread-spectrum communications and global positioning. However, electromagnetic signals attenuate rapidly underwater, and therefore acoustic waves are needed to achieve long-range sensing or communication. The propagation of acoustic signals underwater can be notoriously complex (Medwin and Clay, 1998), with...


Simultaneous Localization And Mapping (SLAM) Ultrashort Baseline (USBL) Survey Vehicle One-way Travel Time (OWTT) Acoustic Modem 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Liam Paull
    • 1
    Email author
  • Mae Seto
    • 2
  • Sajad Saeedi
    • 3
  • John J. Leonard
    • 4
  1. 1.MilaUniversité de MontréalMontrealCanada
  2. 2.Department of Mechanical EngineeringDalhousie UniversityHalifaxCanada
  3. 3.Department of Computing Imperial College LondonLondonUK
  4. 4.Department of Mechanical EngineeringMassachusetts Institute of TechnologyCambridgeUSA

Section editors and affiliations

  • Gianluca Antonelli
    • 1
  1. 1.University of Cassino and Southern LazioCassinoItaly