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Underwater Navigation in Unsteady Flows Using Measurement Histories from a Single Sensing Unit

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Spatial flow measurements support underwater navigation, but distributed sensing is constrained by robot size and sensor layout. We use a causal observer to estimate current lateral velocities from a finite history of measurements collected by a single sensing unit, supplying the inputs of a fixed navigation controller. In two-dimensional wake simulations with access to body-frame ambient velocity, this virtual sensing interface reduces simultaneous flow sampling from three points to the robot center. Trained only in a circular-cylinder wake at Re = 100, the flow-history observer achieves 84.4

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