相关论文: A Landmark-Aided Navigation Approach Using Side-Sc…

Advancements in unmanned aerial vehicle (UAV) technology have led to their increased utilization in various commercial and military applications. One such application is signal source search and localization (SSSL) using UAVs, which offers…

Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…

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…

Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…

Abstract While vision-based localization techniques have been widely studied for small autonomous unmanned vehicles (SAUVs), sound-source localization capabilities have not been fully enabled for SAUVs. This paper presents two novel…

Side-scan sonar (SSS) imagery is widely used for seafloor mapping and underwater remote sensing, yet the measured intensity is strongly influenced by seabed reflectivity, terrain elevation, and acoustic path loss. This entanglement makes…

Shape and pose estimation is a critical perception problem for a self-driving car to fully understand its surrounding environment. One fundamental challenge in solving this problem is the incomplete sensor signal (e.g., LiDAR scans),…

Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…

Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…

Detection of undersea threats is a complex problem of considerable importance for maritime regional surveillance and security. Multistatic sonar systems can provide a means to monitor for underwater threats, where fixed sensors, towed…

In battlefield environments, adversaries frequently disrupt GPS signals, requiring alternative localization and navigation methods. Traditional vision-based approaches like Simultaneous Localization and Mapping (SLAM) and Visual Odometry…

Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…

This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…

Underwater target detection using active sonar constitutes a critical research area in marine sciences and engineering. However, traditional signal processing methods face significant challenges in complex underwater environments due to…

Unmanned Aerial Vehicles (UAVs) are increasingly deployed in search-and-rescue (SAR) missions, yet continuous and reliable victim detection and localization remain challenging due to on-board hardware constraints. This paper designs an…

This paper presents a scalable acoustic navigation approach for the unified command, control and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually, by…

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…

This research addresses the challenge of estimating bathymetry from imaging sonars where the state-of-the-art works have primarily relied on either supervised learning with ground-truth labels or surface rendering based on the Lambertian…

For an autonomous surface vessel (ASV) to dock, it must track other vessels close to the docking area. Kayaks present a particular challenge due to their proximity to the dock and relatively small size. Maritime target tracking has…

The performance of navigation algorithms significantly determines the trajectory tracking accuracy of the guidance, navigation, and control (GNC) system of an autonomous underwater vehicle (AUV). In closed-loop operation, the interaction…