相关论文: Navigation in shallow water using passive acoustic…
We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…
We study pressure acoustic propagation in asymmetric spoof-fluid-spoof acoustic waveguides and its potential application in acoustic gas sensors. First, a stable and efficient analytical method is established for fast calculation of the…
Autonomous underwater vehicles (AUVs) are employed for marine applications and can operate in deep underwater environments beyond human reach. A standard solution for the autonomous navigation problem can be obtained by fusing the inertial…
A cooperative Sense and Avoid (SAA) algorithm for safe navigation of small-sized UAVs within an airspace is proposed in this paper. The proposed method relies upon cooperation between the UAV and the surrounding transponder-equipped…
Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization techniques based on radio frequency or optics are suitable due…
Acoustic trapping uses forces exerted by sound waves to transport small objects along specified trajectories in three dimensions. The structure of the acoustic force landscape is governed by the amplitude and phase profiles of the sound's…
The use of Autonomous Surface Vehicles, equipped with water quality sensors and artificial vision systems, allows for a smart and adaptive deployment in water resources environmental monitoring. This paper presents a real implementation of…
In audio-visual navigation (AVN), an intelligent agent needs to navigate to a constantly sound-making object in complex 3D environments based on its audio and visual perceptions. While existing methods attempt to improve the navigation…
Recent advancements in robotics, control, and machine learning have facilitated progress in the challenging area of object manipulation. These advancements include, among others, the use of deep neural networks to represent dynamics that…
Audio-visual navigation enables embodied agents to navigate toward sound-emitting targets by leveraging both auditory and visual cues. However, most existing approaches rely on precomputed room impulse responses (RIRs) for binaural audio…
Ambient noise measured in the deep ocean is studied in the context of a search for signals from ultra-high energy cosmic ray neutrinos. The spectral shape of the noise at the relevant high frequencies is found to be very stable for an…
Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In the case of autonomous underwater vehicles (AUVs) equipped…
Passive acoustic monitoring is a promising method for surveying wildlife populations that are easier to detect acoustically than visually. When animal vocalisations can be uniquely identified on an array of sensors, the potential exists to…
In multisensor systems, time synchronization is particularly challenging for underwater integrated navigation systems (INSs) incorporating acoustic positioning, where time delays can significantly degrade accuracy when measurement and…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…
Underwater sensor networks (UWSNs) are of interest to gather data from underwater sensor nodes (SNs) and deliver information to a terrestrial access point (AP) in the uplink transmission, and transfer data from the AP to the SNs in the…
In this work we apply deep reinforcement learning to the problems of navigating a three-dimensional environment and inferring the locations of human speaker audio sources within, in the case where the only available information is the raw…
This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…