Over the break I've worked on integrating the data from Smart Tether into the FastSLAM algorithm for better localization of the ROV in the underwater caves of Malta. The algorithm will match up several Smart Tether measurements with the times of the sonar scans and use an average of those measurements to calculate a weight for a given particle's estimated position of the ROV. I've also started to make sample Smart Tether data based on the data we collected at the pool to use for testing.
Having worked on localization with the x80 ground robot and a known map in Prof. Clark's Autonomous Robot Navigation class, I am interested in the technical challenges presented by underwater localization and with having no map initially. I've studied Latin for four years and Italian for two, so I'm very interested in the history of Malta as it dates back to Greek and Roman times as well as the culture of Malta and the Mediterranean region.
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