Related papers: Path Planning for Sound Speed Profile Estimation
This paper presents an integrated approach for efficient path planning and energy management in hybrid unmanned aerial vehicles (HUAVs) equipped with dual fuel-electric propulsion systems. These HUAVs operate in environments that include…
Passive human speed estimation plays a critical role in acoustic sensing. Despite extensive study, existing systems, however, suffer from various limitations: First, the channel measurement rate proves inadequate to estimate high moving…
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 study the three-dimensional (3D) path planning for a cellular-connected unmanned aerial vehicle (UAV) to minimize its flying distance from given initial to final locations, while ensuring a target link quality in terms of…
The dual-channel sound speed profiles of the Chukchi Plateau and the Canadian Basin have become current research hotspots due to their excellent low-frequency sound signal propagation ability. Previous research has mainly focused on using…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
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.…
An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale…
High-mobility uncrewed aerial vehicle (UAV) communications in low-altitude wireless networks (LAWN) demand reliable beamforming, while conventional feedback-based schemes suffer from excessive overhead and severe misalignment under rapid…
Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…
A high-precision numerical sound field is the basis of underwater target detection, positioning and communication. A line source in a plane is a common type of sound source in computational ocean acoustics. The exciting waveguide in a…
Parameter-efficient transfer learning (PETL) methods adapt large artificial neural networks to downstream tasks without fine-tuning the entire model. However, existing additive methods, such as adapters, sometimes struggle to capture…
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
Signal separation in the passive underwater acoustic domain has heavily relied on deep learning techniques to isolate ship radiated noise. However, the separation networks commonly used in this domain stem from speech separation…
We address the challenge of computing search paths in real-time for subsea applications where the goal is to locate an unknown number of targets on the seafloor. Our approach maximizes a formal definition of search effectiveness given…
The stepwise coupled-mode model is a classic approach for solving range-dependent sound propagation problems. Existing coupled-mode programs have disadvantages such as high computational cost, weak adaptability to complex ocean environments…
In this study, a Fourier-based, split-step Pad\'e (SSP) method for solving the parabolic wave equation with applications in guided wave propagation in ocean acoustics is presented. Traditional SSP implementations rely in finite-difference…
Autonomous sailboats are well suited for long-duration ocean observation due to their wind-driven endurance. However, their performance is highly anisotropic and strongly influenced by inhomogeneous and time-varying wind and current fields,…
This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a…