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Robots are equipped with down-looking camera which is used to estimate their motion with respect to the seafloor and built an online mosaic. As the mosaic increases in size, a systematic bias is introduced in its alignment, resulting in an erroneous output. The theoretical concepts associated with the use of an Augmented State Kalman Filter (ASKF) were applied to optimally estimate both visual map and the fleet position.<\/jats:p>","DOI":"10.1007\/bf03192410","type":"journal-article","created":{"date-parts":[[2010,11,11]],"date-time":"2010-11-11T15:17:49Z","timestamp":1289488669000},"page":"61-70","source":"Crossref","is-referenced-by-count":1,"title":["Using Augmented State Kalman filter to localize multi autonomous underwater vehicles"],"prefix":"10.1007","volume":"13","author":[{"given":"Silvia","family":"Botelho","sequence":"first","affiliation":[]},{"given":"Renato","family":"Neves","sequence":"additional","affiliation":[]},{"given":"Lorenzo","family":"Taddei","sequence":"additional","affiliation":[]},{"given":"Vin\u00edcius","family":"Oliveira","sequence":"additional","affiliation":[]}],"member":"297","reference":[{"key":"BF03192410_CR1","unstructured":"R. Alami and S. S. C. Botelho. Plan-based multirobot cooperation. In Michael Beetz, Jachim Hertzberg, Malik Ghallab, and Martha E. Pollack, editors,Advances in Plan-Based Control of Robotic Agents, volume 2466 ofLecture Notes in Computer Science. Springer, 2002."},{"key":"BF03192410_CR2","unstructured":"D Blidberg. The development of autonomous underwater vehicles (auvs); a brief summary. InIEEE Int. Conf. on Robotics and Automation (ICRA\u201901), 2001."},{"key":"BF03192410_CR3","unstructured":"S. S. C. Botelho, R. Mendes, L. Taddei, and M. Teixeira. Lambdari um rob\u00f4 subaq\u00fc\u00e1tico aut\u00f4nomo. InSimp\u00f3sio Brasileiro De Automa\u00e7\u00e3o Inteligente \u2014 VI SBAI, 2003."},{"issue":"23","key":"BF03192410_CR4","doi-asserted-by":"publisher","first-page":"2062","DOI":"10.1049\/el:19991355","volume":"35","author":"R. Deaves","year":"1999","unstructured":"R. Deaves. 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Navision \u2014 sistema de vis\u00e3o subaq\u00fc\u00e1tico para navega\u00e7\u00e3o e montagem de mosaicos em auvs. InSemin\u00e1rio e Workshop em Engenharia Oce\u00e2nica, 2004."},{"key":"BF03192410_CR17","unstructured":"R. Wernli. Auv\u2019s \u2014 a technology whose time has come. 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