In this paper, we address the problem of localization of swimming robots inside liquid storage tanks. Our proposed localization technique uses two or more proximity sensors with one or more angular orientation sensors while exploiting the cylindrical geometry of tanks. For the planar case, we study the map of the sensor error to the robot position error using a Monte Carlo error optimization analysis. We study the case of two, three and four proximity sensors while varying the relative orientation placement of these sensors. We conclude that the use of one orientation sensor, and four proximity sensors spaced 45 degrees apart give the least error in computing the robot position inside the tank from sensor measurements.
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