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Scalable Aerial GNSS Localization for Marine Robots

7 May 2025
Shuo Wen
Edwin Meriaux
Mariana Sosa Guzmán
Charlotte Morissette
Chloe Si
Bobak H. Baghi
Gregory Dudek
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Abstract

Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS receivers. Existing approaches, such as inertial navigation, Doppler Velocity Loggers (DVL), SLAM, and acoustic-based methods, face challenges like error accumulation and high computational complexity. Therefore, a more efficient and scalable solution remains necessary. This paper proposes an alternative approach that leverages an aerial drone equipped with GNSS localization to track and localize a marine robot once it is near the surface of the water. Our results show that this novel adaptation enables accurate single and multi-robot marine robot localization.

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@article{wen2025_2505.04095,
  title={ Scalable Aerial GNSS Localization for Marine Robots },
  author={ Shuo Wen and Edwin Meriaux and Mariana Sosa Guzmán and Charlotte Morissette and Chloe Si and Bobak Baghi and Gregory Dudek },
  journal={arXiv preprint arXiv:2505.04095},
  year={ 2025 }
}
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