相关论文: Navigation in shallow water using passive acoustic…
This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwater acoustic features and the loss of elevation angle in…
Source localization in ocean acoustics is posed as a machine learning problem in which data-driven methods learn source ranges directly from observed acoustic data. The pressure received by a vertical linear array is preprocessed by…
The main goal of this paper is to estimate the regional acoustic and geoacoustic shallow-water environment from data collected by a vertical hydrophone array and transmitted by distant time-harmonic point sources. We aim at estimating the…
The employment of unmanned aerial vehicles (UAVs) in the lowaltitude economy necessitates precise and real-time radio maps for reliable communication and safe navigation. However, constructing such maps is hindered by the infeasibility of…
Multi-rotor aerial autonomous vehicles (MAVs) primarily rely on vision for navigation purposes. However, visual localization and odometry techniques suffer from poor performance in low or direct sunlight, a limited field of view, and…
This paper presents a general framework integrating vision and acoustic sensor data to enhance localization and mapping in highly dynamic and complex underwater environments, with a particular focus on fish farming. The proposed pipeline is…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
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,…
This paper considers a bearings-only tracking problem using noisy measurements of unknown noise statistics from a passive sensor. It is assumed that the process and measurement noise follows the Gaussian distribution where the measurement…
In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an…
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…
The underwater world remains largely unexplored, with Autonomous Underwater Vehicles (AUVs) playing a crucial role in sub-sea explorations. However, continuous monitoring of underwater environments using AUVs can generate a significant…
In this paper we propose a novel approach aimed at recovering the 3D position of an UUV from UAV imagery in shallow-water environments. Through combination of UAV and UUV measurements, we show that our method can be utilized as an accurate…
Navigating spatially varied and dynamic environments is one of the key tasks for autonomous agents. In this paper we present a novel method of navigating a mobile platform with one or multiple 3D-sonar sensors. Moving a mobile platform and…
Passive Acoustic Monitoring (PAM) is an efficient and non-invasive method for surveying ecosystems at a reduced cost. Typically, autonomous recorders allow the acquisition of vast bioacoustic datasets which are then analyzed. However, power…
Detection of artificial objects from underwater imagery gathered by Autonomous Underwater Vehicles (AUVs) is a key requirement for many subsea applications. Real-world AUV image datasets tend to be very large and unlabelled. Furthermore,…
Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…
Sound propagation in the ocean is considered. We demonstrate a novel algorithm for full wavefield reconstruction using pointwise measurements by means of a vertical array. The algorithm is based on the so-called discrete variable…
Manually monitoring water quality is very exhausting and requires several hours of sampling and laboratory testing for a particular body of water. This article presents a solution to test water properties like electrical conductivity and pH…
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…