• Particle Filter for Fault Diagnosis and Ropbust Navigation of Underwater Robot 

      Zhao, Bo; Skjetne, Roger; Blanke, Mogens; Dukan, Fredrik (Journal article; Peer reviewed, 2014)
      A particle filter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are ...