David M. Lane

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Several physico-mechanical designs evolved in fish are currently inspiring robotic devices for propulsion and maneuvering purposes in underwater vehicles. Considering the potential benefits involved, this paper presents an overview of the swimming mechanisms employed by fish. The motivation is to provide a relevant and useful introduction to the existing(More)
Efficient path-planning algorithms are a crucial issue for modern autonomous underwater vehicles. Classical path-planning algorithms in artificial intelligence are not designed to deal with wide continuous environments prone to currents. We present a novel Fast Marching (FM)-based approach to address the following issues. First, we develop an algorithm we(More)
Graphical interfaces allow users to issue commands using pull-down menus, icon toolbars, and keyboard shortcuts. Menus and icon toolbars are easier to learn, whereas keyboard shortcuts are more efficient. It would seem natural for users to migrate from the use of easy-to-learn menu and icon methods to the more efficient method of keyboard shortcuts as they(More)
In this paper, a new method for the estimation of seabed elevation maps from side-scan sonar images is presented. The side-scan image formation process is represented by a Lambertian diffuse model, which is then inverted by a multiresolution optimization procedure inspired by expectation-maximization to account for the characteristics of the imaged seafloor(More)
This paper describes a Concurrent Mapping and Localisation (CML) algorithm suitable for localising an Autonomous Underwater Vehicle (AUV). The proposed CML algorithm uses a standard off-the-shelf sonar for sensing the environment. The returns from the sonar are used to detect targets in the vehicle’s vicinity. These targets are used in conjunction with a(More)
This paper deals with automatic target tracking in video and sonar subsea sequences, an essential capability for automating tasks currently performed by remotely operated vehicles under pilot control. We describe two trackers, one for video sequences, the other for sector scan sonar sequences. No assumptions are made about the images, scene, or motion(More)
We present the design and evaluation of an architecture for collision avoidance and escape of mobile autonomous robots operating in unstructured environments. The approach mixes both reactive and deliberative components. This provides the vehicle’s behaviour designers with an explicit means to design-in avoidance strategies that match system requirements in(More)
Development and integration of subsystems on advanced robots such as unmanned underwater vehicles, can benefit from the availability of a hardware-in-the-Ioop (HIL) simulation facility. Although complete interoperability of simulated and real subsystems appears desirable, substantial additional complexity of data flows and hardware can be introduced. Where(More)