A novel underwater localization algorithm for autonomous underwater vehicle(AUVs) is proposed. Taking aim at the high cost of the traditional "leader-follower" positioning,a "parallel" model is ado...A novel underwater localization algorithm for autonomous underwater vehicle(AUVs) is proposed. Taking aim at the high cost of the traditional "leader-follower" positioning,a "parallel" model is adopted to describe the localization problem. Under an unknown-but-bounded assumption for sensor noise,bearing and range measurements can be modeled as linear constraints on the configuration space of the AUVs. Merged these constraints,a convex polyhedron representing the set of all configurations consistent with the sensor measurements can be induced. Estimates for the uncertainty in the position of a single AUV or the relative positions of two or more AUVs can then be obtained by projecting this polyhedron into appropriate subspaces of the configuration space. The localization uncertain region for each AUV can be recovered by an approximation algorithm to realize underwater localization for multiple AUVs. The deduced theoretically and the simulated results show that it is an economical and practical localization method for the AUV swarm.展开更多
考虑次临界分数阶Laplace问题{(-△)~su=︳u︳^(p-1-ε)u,x∈Ω,u=0,x∈?Ω}具有两个bubbles的变号解的存在性,其中Ω是R^N中的有界光滑区域,N>2s,0<s<1,p=(N+2s)/(N-2s),ε>0充分小.这个工作可以看作Bartsch,Micheletti,Pi...考虑次临界分数阶Laplace问题{(-△)~su=︳u︳^(p-1-ε)u,x∈Ω,u=0,x∈?Ω}具有两个bubbles的变号解的存在性,其中Ω是R^N中的有界光滑区域,N>2s,0<s<1,p=(N+2s)/(N-2s),ε>0充分小.这个工作可以看作Bartsch,Micheletti,Pistoia在文[On the existence and the profile of nodal solutions of elliptic equations involving critical growth,Calc.Var.Partial Differential Equations,2006,3:265-282]结果的一种非局部形式的推广.展开更多
基金Sponsored by National Natural Foundation (50979093)High Technology Research and Development Program of China (2007AA809502C)Program for New Century Excellent Talents in University (NCET-06-0877)
文摘A novel underwater localization algorithm for autonomous underwater vehicle(AUVs) is proposed. Taking aim at the high cost of the traditional "leader-follower" positioning,a "parallel" model is adopted to describe the localization problem. Under an unknown-but-bounded assumption for sensor noise,bearing and range measurements can be modeled as linear constraints on the configuration space of the AUVs. Merged these constraints,a convex polyhedron representing the set of all configurations consistent with the sensor measurements can be induced. Estimates for the uncertainty in the position of a single AUV or the relative positions of two or more AUVs can then be obtained by projecting this polyhedron into appropriate subspaces of the configuration space. The localization uncertain region for each AUV can be recovered by an approximation algorithm to realize underwater localization for multiple AUVs. The deduced theoretically and the simulated results show that it is an economical and practical localization method for the AUV swarm.
文摘考虑次临界分数阶Laplace问题{(-△)~su=︳u︳^(p-1-ε)u,x∈Ω,u=0,x∈?Ω}具有两个bubbles的变号解的存在性,其中Ω是R^N中的有界光滑区域,N>2s,0<s<1,p=(N+2s)/(N-2s),ε>0充分小.这个工作可以看作Bartsch,Micheletti,Pistoia在文[On the existence and the profile of nodal solutions of elliptic equations involving critical growth,Calc.Var.Partial Differential Equations,2006,3:265-282]结果的一种非局部形式的推广.
