: !! Talk-00: ''Implementing on-line AUV SLAM using side-scan sonar and automated target detection with MOOS- IvP'' !!!!%color=#000000% '''Mae L. Seto, Defence Research and Development Canada''' !!!!%color=#000000% '''Timothy Pohajdak''' !!!!%color=#000000% '''Colin MacKenzie''' !!!!%color=#000000% '''John J. Leonard, MIT''' Simultaneous localization and mapping (SLAM) using side-scan sonar on-board autonomous underwater vehicles (AUV) for mapping mine-like objects (or targets) was implemented and tested in- water. The work is motivated by persistent SLAM for change detection over longer periods. The payload autonomy was implemented in MOOS-IvP on-board the backseat processor of the IVER AUV. iSAM (incremental smoothing and mapping) was the SLAM engine used for the core state estimation. The DRDC automated target detection (ATD) tools were used to perform the on-line target detection and identification as well as provide an estimate for the target location. The data association used was joint compatibility branch and bound. These tools and algorithms were integrated and/or developed with a hardware-in-the loop simulator for the Iver AUV. Newly developed MOOS modules are discussed. Three sets of in-water trials, separated by weeks, were performed to collect the change detection data sets. A year later a newer data set was collected over the same area with the AUV fusing a high calibre INS into the dead-reckoned navigation solution. The presentation discusses the use of the MOOS framework for implementing in-water SLAM using the DRDC ATD tools and iSAM on an embedded processor. As a measure of localization accuracy, the internal dead-reckoned AUV position estimate (with and without INS) just before surfacing is compared with the GPS fix on the surface and with the SLAM position estimate. Restore June 00, 0000, at 00:00 AM by 000.0.0.0 - Changed lines 0-0 from: !!!! %color=#0000BB% [[Talk.00-Kutzke | Prev-Talk]]%% | \ %color=#0000BB%[[Talk.00-Gagner | Next-Talk]]%% | \ to: !!!! %color=#0000BB% [[Talk.00-ValSchmidt | Prev-Talk]]%% | \ %color=#0000BB%[[Talk.00-Seto | Next-Talk]]%% | \ Changed lines 00-00 from: !! Talk-00: ''Developing an autonomous low cost boat using MOOS-IvP'' !!!!%color=#000000% '''David Issa Mattos, Douglas S. dos Santos, Cairo L. Nascimento Jr., Instituto Tecnologico de Aeronutica, Brazil''' The development of autonomous vehicles provides the opportunity to create new combinations of hardware components and their software interfaces with an autonomous software library. The platform present in this work is a catamaran boat driven by two direct current motors as the propulsion system. It is embedded with an Arduino, a low cost IMU (Inertial Measurement Unit), a GPS receiver and a wireless serial communication system. The boat communicates with the ground control station (GCS) sending telemetry data and receiving navigation commands for the propulsion motors. The GCS uses the MOOS-IvP software to implement the navigation decision and GPS/IMU fusion algorithms. A boat model is presented and used in a simulation environment module. Results from simulation and real-world testing will be presented and discussed. 