相关论文: Navigation in shallow water using passive acoustic…

Improved designs for Autonomous Underwater Vehicles (AUV) are becoming increasingly important due to their utility in academic and industrial applications. However, a majority of such testing and design is carried out under conditions that…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

Autonomous underwater vehicles (AUV) have a wide variety of applications in the marine domain, including exploration, surveying, and mapping. Their navigation systems rely heavily on fusing data from inertial sensors and a Doppler velocity…

Accurate estimation of the sound speed profile (SSP) is essential for underwater acoustic communication, sonar performance, and navigation, as the acoustic wave propagation depends strongly on the SSP. This work considers SSP estimation in…

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…

Autonomous Surface Vehicles (ASV) are becoming more affordable and include a wide variety of sensors and capacities with applications from ocean physics such as the Saildrone project to ecology with the tracking of marine species in the…

Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…

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…

Unmanned surface vessels USVs are typically autonomous or remotely operated and are specifically designed for environmental monitoring in various aquatic environments Aquaculture requires constant monitoring and management of water quality…

Cooperating autonomous underwater vehicles (AUVs) often rely on acoustic communication to coordinate their actions effectively. However, the reliability of underwater acoustic communication decreases as the communication range between…

Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…

We introduce a Bayesian estimation approach for the passive localization of an acoustic source in shallow water using a single mobile receiver. The proposed probabilistic focalization method estimates the time-varying source location in the…

This paper proposes a fully automated method for recovering the location of a source and medium parameters in shallow waters. The scenario involves an unknown source emitting low-frequency sound waves in a shallow water environment, and a…

Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…

Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…

This paper presents a Bayesian estimation method for the passive localization of an acoustic source in shallow water. Our probabilistic focalization approach estimates the time-varying source location by associating direction of arrival…

Passive acoustic monitoring offers the potential to enable long-term, spatially extensive assessments of coral reefs. To explore this approach, we deployed underwater acoustic recorders at ten coral reef sites around Singapore waters over…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

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…

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…