相关论文: Acoustic Localization and Communication Using a ME…

Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth's oceans. However, these advances…

Acoustic local positioning systems (ALPSs) are an interesting alternative for indoor positioning due to certain advantages over other approaches, including their relatively high accuracy, low cost, and room-level signal propagation.…

Underwater localization is essential for marine exploration and autonomous underwater operations, yet existing radio frequency and optical approaches are limited by rapid attenuation or limited visibility. Acoustic sensing remains the most…

For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…

In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to locate rigid objects and maneuver around them. We introduce…

Underwater sensor networks are anticipated to facilitate numerous commercial and military applications. Moreover, precise self-localization in practical underwater scenario is a crucial challenge in sensor networks because of the complexity…

This paper presents a sound source localization strategy that relies on a microphone array embedded in an unmanned ground vehicle and an asynchronous close-talking microphone near the operator. A signal coarse alignment strategy is combined…

Inspired by the behavior of humans talking in noisy environments, we propose an embodied embedded cognition approach to improve automatic speech recognition (ASR) systems for robots in challenging environments, such as with ego noise, using…

Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…

Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…

Accurately estimating sound source positions is crucial for robot audition. However, existing sound source localization methods typically rely on a microphone array with at least two spatially preconfigured microphones. This requirement…

Key challenges in developing underwater acoustic localization methods are related to the combined effects of high reverberation in intricate environments. To address such challenges, recent studies have shown that with a properly designed…

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers,…

We present a novel underwater system that can perform acoustic ranging between commodity smartphones. To achieve this, we design a real-time underwater ranging protocol that computes the time-of-flight between smartphones. To address the…

Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…

Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…

Accurate underwater localization remains a challenge for inexpensive autonomous platforms that require highfrequency position updates. In this paper, we present a robust, low-cost localization pipeline for buoyancy-driven microFloats…

Underwater acoustic localization has traditionally been challenging due to the presence of unknown environmental structure and dynamic conditions. The problem is richer still when such structure includes occlusion, which causes the loss of…

Powered by acoustics, existing therapeutic and diagnostic procedures will become less invasive and new methods will become available that have never been available before. Acoustically driven microrobot navigation based on microbubbles is a…

Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…