Related papers: Path Planning for Sound Speed Profile Estimation
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…
The environment of low-altitude urban airspace is complex and variable due to numerous obstacles, non-cooperative aircrafts, and birds. Unmanned aerial vehicles (UAVs) leveraging environmental information to achieve three-dimension…
This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…
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,…
Radio maps are emerging as a popular means to endow next-generation wireless communications with situational awareness. In particular, radio maps are expected to play a central role in unmanned aerial vehicle (UAV) communications since they…
Initial access in millimeter-wave (mmW) wireless is critical toward successful realization of the fifth-generation (5G) wireless networks and beyond. Limited bandwidth in existing standards and use of phase-shifters in analog/hybrid…
In this paper, two regional robust secure precise wireless transmission (SPWT) schemes for multi-user unmanned aerial vehicle (UAV) :1) regional signal-to-leakage-and-noise ratio (SLNR) and artificial-noise-to-leakage-and-noise ratio…
This paper introduces a new localization method called SVD-PHAT. The SVD-PHAT method relies on Singular Value Decomposition of the SRP-PHAT projection matrix. A k-d tree is also proposed to speed up the search for the most likely direction…
Underwater data infrastructures offer natural cooling and enhanced physical security compared to terrestrial facilities, but their storage systems remain susceptible to acoustic injection attacks, where sound-induced mechanical vibrations…
In this paper, we study the underwater acoustic localization in the presence of environmental mismatch. Especially, we exploit a pre-trained neural network for the acoustic wave propagation in a gradient-based optimization framework to…
The propagation of sound in a shallow water environment is characterized by boundary reflections from the sea surface and sea floor. These reflections result in multiple (indirect) sound propagation paths, which can degrade the performance…
We consider the underwater acoustic channel which is time-variant and doubly-spread in this work. Since conventional channel estimation and decision feedback equalizer (DFE) can not work well for this type of channel, a path-specific…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…
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…
This paper introduces a novel automatic coverage path planning algorithm for bathymetry surveying with unmanned surface vehicles. The detection range of the mapping sensor employed - a multibeam echo sounder - is heavily influenced by local…
In the past decade, the adoption of compact 3D range sensors, such as LiDARs, has driven the developments of robust state-estimation pipelines, making them a standard sensor for aerial, ground, and space autonomy. Unfortunately, poor…
Acoustic sensors play an important role in autonomous underwater vehicles (AUVs). Sidescan sonar (SSS) detects a wide range and provides photo-realistic images in high resolution. However, SSS projects the 3D seafloor to 2D images, which…
This paper proposes the trajectory tracking problem between an autonomous underwater vehicle (AUV) and a mobile surface ship, both equipped with optical communication transceivers. The challenging issue is to maintain stable connectivity…