Acoustic communication with autonomous underwater vehicles (AUVs) is complicated by the vehicles self-noise, particularly on AUVs with on-board active acoustic systems. Fortunately, active emissions generated on-board the AUV provide a convenient reference signal characterizing the self-noise. This paper addresses the use of such reference signals to improve the performance of acoustic communication systems. To this end, two methods of noise cancellation are examined both theoretically and experimentally. The first, called the cascade method, makes use of a conventional adaptive noise cancellation algorithm followed by a receiver with adaptive equalization. The second, called the noise cancellation method, involves a recently-proposed multi-channel adaptive receiver algorithm. It is shown that the multi-channel receiver can operate reliably in a signal-to-noise ratio of -3 dB or worse, a gain of about 10 dB over a conventional receiver for the codes and data-rates used. The cascade method, however, has a performance inferior to that of the multi-channel receiver due to adaptation noise.
{"title":"Noise cancelling performance of an adaptive receiver for underwater communications","authors":"J. Catipovic, M. Johnson, D. Adams","doi":"10.1109/AUV.1994.518622","DOIUrl":"https://doi.org/10.1109/AUV.1994.518622","url":null,"abstract":"Acoustic communication with autonomous underwater vehicles (AUVs) is complicated by the vehicles self-noise, particularly on AUVs with on-board active acoustic systems. Fortunately, active emissions generated on-board the AUV provide a convenient reference signal characterizing the self-noise. This paper addresses the use of such reference signals to improve the performance of acoustic communication systems. To this end, two methods of noise cancellation are examined both theoretically and experimentally. The first, called the cascade method, makes use of a conventional adaptive noise cancellation algorithm followed by a receiver with adaptive equalization. The second, called the noise cancellation method, involves a recently-proposed multi-channel adaptive receiver algorithm. It is shown that the multi-channel receiver can operate reliably in a signal-to-noise ratio of -3 dB or worse, a gain of about 10 dB over a conventional receiver for the codes and data-rates used. The cascade method, however, has a performance inferior to that of the multi-channel receiver due to adaptation noise.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127374938","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
There are civilian and military justifications for the development and commercialization of free swimming survey platforms which may be carried and operated by one person. To be effective, these platforms must be capable of characterizing the spatial and vertical variability of the physical environment beneath the surface of the water. There is therefore a need to develop low risk, affordable, underwater vehicles which are easily reproduced and which provide effective solutions, but whose loss is not an economic catastrophe. Research aimed at quantifying cause and effect relationships and predicting long term trends in coastal, inland and global marine processes will benefit from such systems. One important aspect of such research is the development of coastal ocean modeling and data assimilation computer programs which permit hind-casting and forecasting of circulation patterns in coastal regions. An affordable system of vehicles, which will permit ground truthing of remotely sensed data and the rapid measurement of vertical distributions beneath the surface, will support the use of these computer programs in characterizing remote coastal regions with a minimum investment. Once operational, these models may be used in support of both military and civilian objectives. A system of remote environmental measuring unit(s) (REMUS) is intended to provide such a capability. The REMUS concept includes a number of small, low cost, free swimming vehicles which may be operated jointly or independently. They offer an appropriate technology for gathering data in the coastal and open ocean. Operations in the open ocean may be conducted from large or small ships of opportunity as well as from long term seafloor observatories such as Rutgers LEO-15, which operates at the end of an electro-optic cable buried in the seafloor. Coastal and inland, operations may be conducted from a shore station or a pier side location, as well as from a small boat. Since the vehicle weight will not normally exceed 40 kilograms, it is envisioned that the vehicle system may be transported to the site of interest in a compact car and set up and operated by one person.
{"title":"Remote environmental measuring units","authors":"C. von Alt, B. Allen, T. Austin, R. Stokey","doi":"10.1109/AUV.1994.518601","DOIUrl":"https://doi.org/10.1109/AUV.1994.518601","url":null,"abstract":"There are civilian and military justifications for the development and commercialization of free swimming survey platforms which may be carried and operated by one person. To be effective, these platforms must be capable of characterizing the spatial and vertical variability of the physical environment beneath the surface of the water. There is therefore a need to develop low risk, affordable, underwater vehicles which are easily reproduced and which provide effective solutions, but whose loss is not an economic catastrophe. Research aimed at quantifying cause and effect relationships and predicting long term trends in coastal, inland and global marine processes will benefit from such systems. One important aspect of such research is the development of coastal ocean modeling and data assimilation computer programs which permit hind-casting and forecasting of circulation patterns in coastal regions. An affordable system of vehicles, which will permit ground truthing of remotely sensed data and the rapid measurement of vertical distributions beneath the surface, will support the use of these computer programs in characterizing remote coastal regions with a minimum investment. Once operational, these models may be used in support of both military and civilian objectives. A system of remote environmental measuring unit(s) (REMUS) is intended to provide such a capability. The REMUS concept includes a number of small, low cost, free swimming vehicles which may be operated jointly or independently. They offer an appropriate technology for gathering data in the coastal and open ocean. Operations in the open ocean may be conducted from large or small ships of opportunity as well as from long term seafloor observatories such as Rutgers LEO-15, which operates at the end of an electro-optic cable buried in the seafloor. Coastal and inland, operations may be conducted from a shore station or a pier side location, as well as from a small boat. Since the vehicle weight will not normally exceed 40 kilograms, it is envisioned that the vehicle system may be transported to the site of interest in a compact car and set up and operated by one person.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127858218","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Autonomous underwater vehicle (AUV) will likely play an increasing role in future military oceanic and scientific missions as long as power sources meet the systems needs. These needs, ranging from 20 to 200 kWh with minimum time from 20 to 200 hours, will not be satisfied with present batteries such as lead acid, nickel cadmium, and silver oxide zinc. This paper attempts to show present and near term options for electric power sources.
{"title":"Comparison of advanced rechargeable batteries for autonomous underwater vehicles","authors":"J.P. Descroix, G. Chagnon","doi":"10.1109/AUV.1994.518625","DOIUrl":"https://doi.org/10.1109/AUV.1994.518625","url":null,"abstract":"Autonomous underwater vehicle (AUV) will likely play an increasing role in future military oceanic and scientific missions as long as power sources meet the systems needs. These needs, ranging from 20 to 200 kWh with minimum time from 20 to 200 hours, will not be satisfied with present batteries such as lead acid, nickel cadmium, and silver oxide zinc. This paper attempts to show present and near term options for electric power sources.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"240 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132787589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Inertial navigation reference units are often thought of as simply a navigation device which must be augmented by another device to damp the Schuler oscillation and characteristic long-term drift. Emerging applications of AUVs, however, demonstrate a need for increasingly sophisticated inertial sensors. These inertial sensors are used not only for navigation, but as importantly, they provide data for sensor stabilization. Inertial systems have also traditionally represented a significant hotel load, been heavy, bulky and a source of acoustic and structure-borne noise. This paper presents an overview of two new inertial systems that are now in production at the Guidance and Control Systems Division of Litton Systems, Inc. These units are small, lightweight, require little power, and are silent. Data are presented that show long-term performance as well as short-term attitude, attitude rate, position, and velocity reference data for the two systems. Attitude, velocity and body axis rate data are required for stabilization of such devices as laser line scanners and long baseline side-scan sonars. The relationship between the characteristics of these sensors and inertial type errors is explored. This analysis shows that it is not sufficient to specify the inertial system only in terms of its navigation CEP. The specification of the inertial unit must also be based on the needs of the sensor payload and include such considerations as the noise content, phase, and bandwidth of the stabilization reference.
{"title":"Advances in the state of the art for AUV inertial sensors and navigation systems","authors":"R. Cox, S. Wei","doi":"10.1109/AUV.1994.518648","DOIUrl":"https://doi.org/10.1109/AUV.1994.518648","url":null,"abstract":"Inertial navigation reference units are often thought of as simply a navigation device which must be augmented by another device to damp the Schuler oscillation and characteristic long-term drift. Emerging applications of AUVs, however, demonstrate a need for increasingly sophisticated inertial sensors. These inertial sensors are used not only for navigation, but as importantly, they provide data for sensor stabilization. Inertial systems have also traditionally represented a significant hotel load, been heavy, bulky and a source of acoustic and structure-borne noise. This paper presents an overview of two new inertial systems that are now in production at the Guidance and Control Systems Division of Litton Systems, Inc. These units are small, lightweight, require little power, and are silent. Data are presented that show long-term performance as well as short-term attitude, attitude rate, position, and velocity reference data for the two systems. Attitude, velocity and body axis rate data are required for stabilization of such devices as laser line scanners and long baseline side-scan sonars. The relationship between the characteristics of these sensors and inertial type errors is explored. This analysis shows that it is not sufficient to specify the inertial system only in terms of its navigation CEP. The specification of the inertial unit must also be based on the needs of the sensor payload and include such considerations as the noise content, phase, and bandwidth of the stabilization reference.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130212207","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
D.L. Juul, M. McDermott, E. Nelson, D. M. Barnett, G. Williams
This paper describes the development and testing of an automatic control system for heading and depth control of an autonomous underwater vehicle (AUV) using the linear quadratic Gaussian with loop transfer recovery (LQG/LTR) method. The control variables were rudder angle and sternplane angle. The nonlinear equations of motion were linearized about various speeds and control inputs. Based on the resulting linearized model a compensator was developed for each speed and gain scheduling was applied to provide a controller that covered the entire range of submersible speeds. Compensator testing was performed using a computer simulation based on the nonlinear equations of motion and satisfactory performance was obtained.
{"title":"Submersible control using the linear quadratic Gaussian with loop transfer recovery method","authors":"D.L. Juul, M. McDermott, E. Nelson, D. M. Barnett, G. Williams","doi":"10.1109/AUV.1994.518654","DOIUrl":"https://doi.org/10.1109/AUV.1994.518654","url":null,"abstract":"This paper describes the development and testing of an automatic control system for heading and depth control of an autonomous underwater vehicle (AUV) using the linear quadratic Gaussian with loop transfer recovery (LQG/LTR) method. The control variables were rudder angle and sternplane angle. The nonlinear equations of motion were linearized about various speeds and control inputs. Based on the resulting linearized model a compensator was developed for each speed and gain scheduling was applied to provide a controller that covered the entire range of submersible speeds. Compensator testing was performed using a computer simulation based on the nonlinear equations of motion and satisfactory performance was obtained.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126038180","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Y. Ito, N. Kato, J. Kojima, S. Takagi, K. Asakawa, Y. Shirasaki
This paper describes the technology of cable tracking and experimental results with an autonomous underwater vehicle (AUV) called AQUA EXPLORER 1000 (AE1000) that is designed to be able to inspect submarine telecommunication cables at the depth of up to 1000 m. The vehicle can detect the magnetic field induced from a cable with on-board magnetometers and calculate the location of the cable. We discuss the errors of the cable location caused by the magnetic noise and misalignment of the sensor axes. We also describe the attitude of the vehicle that is necessary to record the scene of the cable. In the recent sea test, AE1000 succeeded to find out a submarine cable and to track it autonomously. We report the results of the experiment.
本文介绍了一种名为AQUA EXPLORER 1000 (AE1000)的自主水下航行器(AUV)的电缆跟踪技术和实验结果，该水下航行器的设计目的是能够在高达1000米的深度检查海底电信电缆。车辆可以用车载磁力计检测电缆产生的磁场，并计算电缆的位置。讨论了由磁噪声和传感器轴线不对准引起的电缆定位误差。我们还描述了记录电缆现场所必需的车辆的姿态。在最近的海上试验中，AE1000成功地找到了海底电缆，并自动跟踪了它。我们报告实验结果。
{"title":"Cable tracking for autonomous underwater vehicle","authors":"Y. Ito, N. Kato, J. Kojima, S. Takagi, K. Asakawa, Y. Shirasaki","doi":"10.1109/AUV.1994.518628","DOIUrl":"https://doi.org/10.1109/AUV.1994.518628","url":null,"abstract":"This paper describes the technology of cable tracking and experimental results with an autonomous underwater vehicle (AUV) called AQUA EXPLORER 1000 (AE1000) that is designed to be able to inspect submarine telecommunication cables at the depth of up to 1000 m. The vehicle can detect the magnetic field induced from a cable with on-board magnetometers and calculate the location of the cable. We discuss the errors of the cable location caused by the magnetic noise and misalignment of the sensor axes. We also describe the attitude of the vehicle that is necessary to record the scene of the cable. In the recent sea test, AE1000 succeeded to find out a submarine cable and to track it autonomously. We report the results of the experiment.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116166783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The advent of the remotely operated vehicle (ROV) greatly improved our ability to explore and understand the world in which we live, but these vehicles were always limited by cables that tethered them to a support facility. Now, with the advent of practical autonomous underwater vehicles (AUVs) the cord can be cut, allowing these robot sentinels to wander the oceans at will. The only limitations on the missions these robots will be able to perform are the available power supply, on-board intelligence and the imagination of the user. If these vehicles will be operating for weeks or even months at a time, a prime concern will be the ability of the vehicle to monitor its own health. This paper seeks to address this problem through the development of a system that can monitor the health of any onboard system.
{"title":"On-line damage detection for autonomous underwater vehicles","authors":"G.J.S. Rae, S. Dunn","doi":"10.1109/AUV.1994.518651","DOIUrl":"https://doi.org/10.1109/AUV.1994.518651","url":null,"abstract":"The advent of the remotely operated vehicle (ROV) greatly improved our ability to explore and understand the world in which we live, but these vehicles were always limited by cables that tethered them to a support facility. Now, with the advent of practical autonomous underwater vehicles (AUVs) the cord can be cut, allowing these robot sentinels to wander the oceans at will. The only limitations on the missions these robots will be able to perform are the available power supply, on-board intelligence and the imagination of the user. If these vehicles will be operating for weeks or even months at a time, a prime concern will be the ability of the vehicle to monitor its own health. This paper seeks to address this problem through the development of a system that can monitor the health of any onboard system.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128596999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Multiple vehicles operation (e.g. cooperative object search) using autonomous underwater vehicles is an expected paradigm for deep ocean survey and exploration. In this paper, bottom-up approach which means that the system consists of homogeneous vehicles, is introduced to make a robust multiple vehicles system. A vehicle control architecture implemented in each member of the vehicles includes two decision making modules: one refers the individual environmental information gotten by its own sensors, and the other shares information received by other vehicles. By separating the decisionmaker into these two modules, the mission operator can easily describe each vehicle's behavior to generate an appropriate total vehicles' behavior. The performance of the vehicles controlled by the proposed system is demonstrated on the newly developed multi-vehicle simulator (MVS), and the total behavior shows that the vehicles generate a formation which has not been explicitly given.
{"title":"Vehicle control architecture for operating multiple vehicles","authors":"Y. Kuroda, T. Ura, K. Aramaki","doi":"10.1109/AUV.1994.518643","DOIUrl":"https://doi.org/10.1109/AUV.1994.518643","url":null,"abstract":"Multiple vehicles operation (e.g. cooperative object search) using autonomous underwater vehicles is an expected paradigm for deep ocean survey and exploration. In this paper, bottom-up approach which means that the system consists of homogeneous vehicles, is introduced to make a robust multiple vehicles system. A vehicle control architecture implemented in each member of the vehicles includes two decision making modules: one refers the individual environmental information gotten by its own sensors, and the other shares information received by other vehicles. By separating the decisionmaker into these two modules, the mission operator can easily describe each vehicle's behavior to generate an appropriate total vehicles' behavior. The performance of the vehicles controlled by the proposed system is demonstrated on the newly developed multi-vehicle simulator (MVS), and the total behavior shows that the vehicles generate a formation which has not been explicitly given.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128739264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Different sensing techniques have been used for a long time in the development of remote operated vehicles (ROVs) and, in the recent years, autonomous underwater vehicles, (AUVs). Sonar has been the most popular choice in what concerns depth information or obstacle detection in most of the existing systems. Vision, however is a powerful sensing modality and could be used in many tasks where accurate measurements at a short range, are needed. This paper discusses the possible use of vision in the context of autonomous underwater vehicles. Tasks, such as object avoidance or recognition, grasping, docking, sea bed reconstruction, underwater surveillance, inspection, cable maintenance, are among the set of those where computer vision may have an important role. As an example, the authors present a vision system designed for recursive depth estimation based on a underwater vehicle equipped with a camera. Results obtained with underwater images are presented.
{"title":"The role of vision for underwater vehicles","authors":"J. Santos-Victor, J. Sentieiro","doi":"10.1109/AUV.1994.518603","DOIUrl":"https://doi.org/10.1109/AUV.1994.518603","url":null,"abstract":"Different sensing techniques have been used for a long time in the development of remote operated vehicles (ROVs) and, in the recent years, autonomous underwater vehicles, (AUVs). Sonar has been the most popular choice in what concerns depth information or obstacle detection in most of the existing systems. Vision, however is a powerful sensing modality and could be used in many tasks where accurate measurements at a short range, are needed. This paper discusses the possible use of vision in the context of autonomous underwater vehicles. Tasks, such as object avoidance or recognition, grasping, docking, sea bed reconstruction, underwater surveillance, inspection, cable maintenance, are among the set of those where computer vision may have an important role. As an example, the authors present a vision system designed for recursive depth estimation based on a underwater vehicle equipped with a camera. Results obtained with underwater images are presented.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133197359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper we describe a sonar based, collision avoidance module for autonomous underwater vehicle, developed as part of a more complex navigation and guidance system. Its main features are the use of Kalman filters in evaluating both the motion of the detected obstacles and the risk of collision, and the possibility of working at two different levels of abstraction, according to the characteristics of the situation.
{"title":"A sonar based obstacle avoidance system for AUVs","authors":"G. Conte, S. Zanoli","doi":"10.1109/AUV.1994.518611","DOIUrl":"https://doi.org/10.1109/AUV.1994.518611","url":null,"abstract":"In this paper we describe a sonar based, collision avoidance module for autonomous underwater vehicle, developed as part of a more complex navigation and guidance system. Its main features are the use of Kalman filters in evaluating both the motion of the detected obstacles and the risk of collision, and the possibility of working at two different levels of abstraction, according to the characteristics of the situation.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115806329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：