title: Robust analysis of an underwater navigational strategy in electrically heterogeneous corridors.
abstract: Obstacles and other global stimuli provide relevant navigational cues to a weakly electric fish. In this work, robust analysis of a control strategy based on electrolocation for performing obstacle avoidance in electrically heterogeneous corridors is presented and validated. Static output feedback control is shown to achieve the desired goal of reflexive obstacle avoidance in such environments in simulation and experimentation. The proposed approach is computationally inexpensive and readily implementable on a small scale underwater vehicle, making underwater autonomous navigation feasible in real-time.
authors.affiliation: Autonomous Vehicles Laboratory, University of Maryland, College Park, MD 20740, USA.
authors.forename: Kedar D
authors.initials: KD
authors.lastname: Dimble
authors.forename: Badri N
authors.initials: BN
authors.lastname: Ranganathan
authors.forename: Jishnu
authors.initials: J
authors.lastname: Keshavan
authors.forename: J Sean
authors.initials: JS
authors.lastname: Humbert
mesh_terms: D000818:Animals; D040761:Biomimetic Materials; D004555:Electric Fish / Q000502:physiology*; D004867:Equipment Design; D005246:Feedback; D065854:Spatial Navigation / Q000502:physiology*; D014867:Water
chemical_list: D014867:Water