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TRITON advances: Active Range-Only Beacon Localization for AUV Homing

This video presents recent advances of the TRITON project performed by the Universitat de Girona. It shows a solution to the 3D Range-Only beacon localization problem using a Sum of Gaussians (SOG) filter together with an Active Localization method, based on the minimization of the beacon position uncertainty, in order to ensure the problem observability and a fast convergence.