Related papers: Bearing-only Tracking using Towed Sensor-Array wit…

During a war situation, many times an underwater target motion analysis (TMA) is performed using bearing-only measurements, obtained from a sensor array, which is towed by an own-ship with the help of a connected cable. It is well known…

This paper considers a bearings-only tracking problem using noisy measurements of unknown noise statistics from a passive sensor. It is assumed that the process and measurement noise follows the Gaussian distribution where the measurement…

This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…

Bearing--only estimation is one of the fundamental and challenging problems in target tracking. As in the case of radar tracking, the presence of offset or position biases can exacerbate the challenges in bearing--only estimation. Modeling…

Proprioceptive-only state estimation is attractive for legged robots since it is computationally cheaper and is unaffected by perceptually degraded conditions. The history of joint-level measurements contains rich information that can be…

Target tracking problem has many practical applications in real life. In submarines, target tracking is done using, preferably, passive sensors. These sensors measure only the bearing angles between the observed target and the ownship.…

Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

This paper studies trajectory optimization of an autonomous underwater vehicle (AUV) to track an unknown maneuvering target both in the 2D and 3D space. Due to the restrictions on sensing capabilities in the underwater scenario, the AUV is…

Characterized by a cross-disciplinary nature, the bearing-based target localization task involves estimating the position of an entity of interest by a group of agents capable of collecting noisy bearing measurements. In this work, this…

In bearing only tracking using a towed array, the array can sense the bearing angle of the target but is unable to differentiate whether the target is on the left or the right side of the array. Thus, the traditional tracking algorithm…

In conventional approaches for multiobject tracking (MOT), raw sensor data undergoes several preprocessing stages to reduce data rate and computational complexity. This typically includes coherent processing that aims at maximizing the…

We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…

We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…

Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing information, the agents…

The recent emergence of Distributed Acoustic Sensing (DAS) technology has facilitated the effective capture of traffic-induced seismic data. The traffic-induced seismic wave is a prominent contributor to urban vibrations and contain crucial…

Autonomous aerial robots provide new possibilities to study the habitats and behaviors of endangered species through the efficient gathering of location information at temporal and spatial granularities not possible with traditional manual…

3D Multi-Object Tracking (MOT), a fundamental component of environmental perception, is essential for intelligent systems like autonomous driving and robotic sensing. Although Tracking-by-Detection frameworks have demonstrated excellent…

This paper introduces a statistical model and corresponding sequential Bayesian estimation method for terrain-based navigation using side-scan sonar (SSS) data. The presented approach relies on slant range measurements extracted from the…

This article concerns the challenge of reliable broadband passive sonar target detection and tracking in complex acoustic environments. Addressing this challenge is becoming increasingly crucial for safeguarding underwater infrastructure,…