Multiple Autonomous Underwater Vehicle Cooperative Localization in Anchor-Free Environments

The localization of autonomous underwater vehicles (AUVs) in anchor-free environments has always been a difficult problem due to the lack of global positioning systems and absolute references. In general, AUVs localize themselves by dead reckoning (DR), whereas the localization error grows without bound. To alleviate the growth of the localization errors, we propose intermittent belief propagation based dead reckoning (IBPDR) as a cooperative...