Related papers: Navigation in shallow water using passive acoustic…
Real-time imaging sonar is crucial for underwater monitoring where optical sensing fails, but its use is limited by low uplink bandwidth and severe sonar-specific artifacts (speckle, motion blur, reverberation, acoustic shadows) affecting…
With the rapid advancement of technology, the recognition of underwater acoustic signals in complex environments has become increasingly crucial. Currently, mainstream underwater acoustic signal recognition relies primarily on…
This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot…
Autonomous landing of Uncrewed Aerial Vehicles (UAVs) on oscillating marine platforms is severely constrained by wave-induced multi-frequency oscillations, wind disturbances, and prediction phase lags in motion prediction. Existing methods…
Underwater acoustic (UWA) communications are essential for high-speed marine data transmission but remain severely constrained by limited bandwidth, significant propagation loss, and sparse multipath structures. Conventional underwater…
The process of fish cage inspections, which is a necessary maintenance task at any fish farm, be it small scale or industrial, is a task that has the potential to be fully automated. Replacing trained divers who perform regular inspections…
An approximate analytical approach to describe the stochastic motion of sound rays in deep ocean is developed. This is done for a realistic propagation model with an internal wave induced perturbation imposed on the smooth background sound…
Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous,…
This paper considers the problem of ground user localization based on received signal strength (RSS) measurements obtained by an unmanned aerial vehicle (UAV). We treat UAV-user link channel model parameters and antenna radiation pattern of…
Although methods for estimating the pose of objects in indoor scenes have achieved great success, the pose estimation of underwater objects remains challenging due to difficulties brought by the complex underwater environment, such as…
Localizing acoustic sound sources in the ocean is a challenging task due to the complex and dynamic nature of the environment. Factors such as high background noise, irregular underwater geometries, and varying acoustic properties make…
Audio-visual Navigation refers to an agent utilizing visual and auditory information in complex 3D environments to accomplish target localization and path planning, thereby achieving autonomous navigation. The core challenge of this task…
Current advancements in waterborne autonomous systems, together with the development of cloud-based service-oriented architectures and the recent availability of low-cost underwater acoustic modems and long-range above water wireless…
Advancing towards high automation and autonomous operations is crucial for the future of inland waterway transport (IWT) systems. These systems necessitate robust and precise onboard sensory technologies that can perceive the environment…
One typical application of unmanned aerial vehicles is the intelligence, surveillance, and reconnaissance mission, where the objective is to improve situation awareness through information acquisition. For examples, an efficient way to…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
Autonomous underwater vehicles (AUV) perform various applications such as seafloor mapping and underwater structure health monitoring. Commonly, an inertial navigation system aided by a Doppler velocity log (DVL) is used to provide the…
Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…
In this paper, we present an acoustic database, designed to drive and support research on voiced enabled technologies inside moving vehicles. The recording process involves (i) recordings of acoustic impulse responses, acquired under static…
We introduce a launch device, called the remotely-enabled modular release mechanism, to augment rapid testing and prototyping of cooperative autonomy maritime applications by facilitating autonomous deployment of an autonomous underwater…