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Advances in computer hardware and sensing technologies have enabled the design and development of low-cost autonomous underwater vehicles (AUVs). The reduced cost of new platforms such as the Bluefin SandShark present the opportunity for more frequent and high-risk AUV-based experiments and reduce the barrier to entry for multi-vehicle operations. The smaller size of these new vehicles compared to...
The Dynamic Compact Control Language (DCCL) provides a flexible and efficient way to marshall object-messages into very small datagrams. It is well suited to transmission over very low throughput links with small maximum transmission units, such as those commonly used in underwater (acoustic modem) and sea-surface (satellite) applications. DCCL provides a interface description language (IDL) and an...
In this paper, a hybrid data- and model-based autonomous environmental adaptation framework is presented which allows autonomous underwater vehicles (AUVs) with acoustic sensors to follow a path which optimizes their ability to maintain connectivity with an acoustic contact for optimal sensing or communication. The adaptation framework is implemented within the behavior-based mission-oriented operating...
In a joint effort between the NATO Undersea Research Center (NURC) and Massachusetts Institute of Technology (MIT) the SWAMSI'11 experiment demonstrated the viability of multi-static sonar tracking techniques for seabed and sub-seabed targets. Although multistatic tracking requires some complexity to implement, it offers several advantages over mono-static tracking. By detecting the backscattered...
In the underwater environment, spatiotemporally dynamic environmental conditions pose challenges to the detection and tracking of hydrographic features. A useful tool in combating these challenge is Autonomous Adaptive Environmental Assessment (AAEA) employed on board Autonomous Underwater Vehicles (AUVs). AAEA is a process by which an AUV autonomously assesses the hydrographic environment it is swimming...
This paper discusses the autonomy framework proposed for the mobile instruments such as Autonomous Underwater Vehicles (AUVs) and gliders. Paper focuses on the challenges faced by these clusters of mobile platform in executive tasks such as adaptive sampling in the hostile underwater environment. Collaborations between these mobile instruments are essential to capture the environmental changes and...
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