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Woods Hole Oceanographic Institution

Dana Yoerger

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Publications
»Robust Trajectory Control
»Thruster Dynamics 1
»Tow cable Dynamics 1
»ABE IJSS
»Jason Vent Site Mapping
»Mothra Site Geology
»ABE Bathy 1
»ashkelon mapping
»Lost City
»Thruster Dynamics 2
»Robot transmissions
»Compliant Manipulator
»Techniques for Deep Sea Near Bottom Survey


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D. R. Yoerger, M. Jakuba, A.M. Bradley, B. Bingham,, Techniques for Deep Sea Near Bottom Survey Using an Autonomous Underwater Vehicle, International Journal of Robotics Research, January 2007

This paper reports the development and at-sea deployment of a set of algorithms that have enabled the autonomous underwater vehicle ABE to conduct near-bottom surveys in the deep sea. Algorithms for long baseline acoustic positioning, terrain-following, and automated nested surveys are reported.

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