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Passive acoustics can provide a variety of capabilities with applications in oceanographic research and maritime situational awareness. In this paper, we develop a method for the navigation of autonomous underwater vehicles (AUVs) in…
Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…
This article considers the joint problem of packet scheduling and self-localization in an underwater acoustic sensor network where sensor nodes are distributed randomly in an operating area. In terms of packet scheduling, our goal is to…
A major challenge in cooperative sensing is to weight the measurements taken from the various sources to get an accurate result. Ideally, the weights should be inversely proportional to the error in the sensing information. However,…
We present a new online approach to track human whole-body motion from motion capture data, i.e., positions of labeled markers attached to the human body. Tracking in noisy data can be effectively performed with the aid of well-established…
Trajectory estimation involves determining the trajectory of a mobile robot by combining prior knowledge about its dynamic model with noisy observations of its state obtained using sensors. The accuracy of such a procedure is dictated by…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
Passive acoustics is a versatile tool for maritime situational awareness, enabling applications such as source detection and localization, marine mammal tracking, and geoacoustic inversion. This study focuses on estimating the range between…
The research presented in this paper is aimed at developing a control algorithm for an autonomous surface system carrying a two-sensor array consisting of two acoustic receivers, capable of measuring the time-difference-of-arrival (TDOA) of…
Active sensing refers to the process of choosing or tuning a set of sensors in order to track an underlying system in an efficient and accurate way. In a wireless environment, among the several kinds of features extracted by traditional…
Real-time optical Motion Capture (MoCap) systems have not benefited from the advances in modern data-driven modeling. In this work we apply machine learning to solve noisy unstructured marker estimates in real-time and deliver robust…
A cost effective approach to remote monitoring of protected areas such as marine reserves and restricted naval waters is to use passive sonar to detect, classify, localize, and track marine vessel activity (including small boats and…
In recent years, there has been a growing interest in designing small-footprint yet effective Connectionist Temporal Classification based keyword spotting (CTC-KWS) systems. They are typically deployed on low-resource computing platforms,…
Autonomous vehicles and wheeled robots are widely used in many applications in both indoor and outdoor settings. In practical situations with limited GNSS signals or degraded lighting conditions, the navigation solution may rely only on…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
Increasing levels of anthropogenic noise from ships contribute significantly to underwater sound pollution, posing risks to marine ecosystems. This makes monitoring crucial to understand and quantify the impact of the ship radiated noise.…
Recently, various relations and criteria have been presented to establish a proper relationship between control systems and control the Global Positioning System (GPS)-intelligent buoy system. Given the importance of controlling the…
Underwater vehicles have emerged as a critical technology for exploring and monitoring aquatic environments. The deployment of multi-vehicle systems has gained substantial interest due to their capability to perform collaborative tasks with…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
We consider a human-assisted autonomy sensor fusion for dynamic target localization in a Bayesian framework. Autonomous sensor-based tracking systems can suffer from observability and target detection failure. Humans possess valuable…