Characterizing Refraction-Induced Ranging Bias in Underwater Collaborative Localization

arXiv:2609.18073 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Code: https://github.com/UMich-RobotExploration/manta-ray

Terminology

• Systematic Bias — 4× in this paper · explained in 3 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• International Conference on Robotics and Automation — 2× in this paper
• Multi-Agent System — 2× in this paper · explained in 6 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Computational Tractability — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Sparsity — 1× in this paper · explained in 4 episodes

Sources

• Advances in Inference and Representation for Simultaneous Localization and Mapping
• Factor-Graph-Based Passive Acoustic Navigation for Decentralized Cooperative Localization Using Bearing Elevation Depth Difference

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