US 9,812,018 B2
Optical based pose detection for multiple unmanned underwater vehicles
Barbaros Celikkol, Durham, NH (US); Firat Eren, Durham, NH (US); Shachak Peéri, Silver Spring, MD (US); Yuri Rzhanov, Nottingham, NH (US); M. Robinson Swift, Durham, NH (US); and May-Win Thein, Lee, NH (US)
Assigned to University of New Hampshire, Durham, NH (US)
Filed by University of New Hampshire, Durham, NH (US)
Filed on Apr. 7, 2015, as Appl. No. 14/680,447.
Claims priority of provisional application 61/976,802, filed on Apr. 8, 2014.
Prior Publication US 2016/0253906 A1, Sep. 1, 2016
Int. Cl. G05D 1/00 (2006.01); G08G 3/00 (2006.01); G01S 3/784 (2006.01); B63G 8/00 (2006.01); G05D 1/12 (2006.01); G08C 23/00 (2006.01); H04B 13/02 (2006.01)
CPC G08G 3/00 (2013.01) [B63G 8/001 (2013.01); G01S 3/784 (2013.01); G05D 1/12 (2013.01); G08C 23/00 (2013.01); H04B 13/02 (2013.01); B63B 2203/00 (2013.01); B63B 2211/02 (2013.01); B63B 2702/12 (2013.01); B63B 2702/14 (2013.01); B63G 2008/004 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An optical communication instrumentation system for leader-follower formations of unmanned underwater vehicles, comprising:
a leader unmanned underwater vehicle and a follower unmanned underwater vehicle;
one or more light sources mounted on the leader unmanned underwater vehicle producing a 3-dimensional light field;
an optical detector array mounted on the follower unmanned underwater vehicle for detecting the light field; and
an algorithm for controlling and detecting distance and controlling motion and orientation between the leader unmanned underwater vehicle and the follower unmanned underwater vehicle.