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We consider the task of conducting underwater surveys with a sonar-equipped autonomous underwater vehicle (AUV) in environments with strong currents. More specifically, this topic is addressed in the context of mine countermeasure operations employing synthetic aperture sonar (SAS) sensors. Two complementary algorithms that allow the AUV to autonomously adapt its survey route based on sophisticated...
CMRE has been evaluating the potential of autonomous networked ASW using underwater vehicles through a program of sonar signal processing, underwater communications, navigation and robotic behavior developments and at-sea decision support tested through an ambitious seagoing experimental program and demonstrated during NATO ASW exercises. In this paper the various scientific aspects of the program...
This paper describes a hybrid CPU/GPU implementation of the synthetic aperture sonar (SAS) processing algorithm developed under the Autonomous Naval Mine Counter Measures (ANMCM) programme at the NATO STO Centre for Maritime Research and Experimentation (CMRE). This new implementation allows processing of SAS data in real time onboard an autonomous underwater vehicle (AUV). This is a key component...
An algorithm for the in situ adaptation of the survey route of an autonomous underwater vehicle (AUV) equipped with side-looking sonars is proposed. The algorithm immediately exploits the through-the-sensor data that is collected during the mission in order to ensure that quality data is collected everywhere in the area of interest. By introducing flexibility into the survey of the AUV, various limitations...
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