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Using sensors to monitor surface or subsurface traffic requires sensor placement, detection of traffic changes, and sensor power scheduling for improved efficiency. Of these capabilities, sensor power scheduling is one of the most important as the appropriate sensors must be selected for activation to respond to changes in the traffic. We present an adaptive power scheduling algorithm that uses the...
Traditional methods of system verification call for the repeated exercise of that system in its intended environment to give confidence that it will operate as designed. Autonomous systems, however, are systems designed for sophisticated operation in stochastic environments that specifically handle the unexpected; testing all possible operational scenarios for such systems is intractably complex....
Harbor protection systems detect unauthorized harbor entry by intruders such as divers, mini-submarines, and small boats. These systems typically consists of a sensor network array to detect harbor entry, a messaging system to communicate status, and a response system to react to any perceived threat. This system falls under the general problem of detecting a moving target through an array of stationary...
We present a node placement algorithm for planning the deployment of a heterogeneous, underwater sensor network. Typical node placement algorithms do not account for heterogeneous node types and consequently, do not always provide accurate estimates for the total probability of success for the overall mission objective. In our approach, we derive an objective function that couples the probability...
The words “failure” and “success” are simple binary terms used to describe the outcomes of maritime autonomous behavior, yet how to draw the line separating the two stark realities demonstrates the subtle nature of this problem. If how to judge success or failure is improperly performed, users of systems that rely upon autonomous behavior may quickly find their initial trust misplaced and in some...
The need for robust teleoperated robotic arms is increasing with respect to particular dangerous maritime missions. These missions might include deactivation of underwater mines, underwater salvage, or pipeline repair. In the past, robotic arms with low degrees of freedom were not always feasible for such operations, as the lack of free motion prevented their uses in locations with small space for...
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