Sharad Nagappa

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This paper proposes the use of the Hellinger distance in evaluating the localisation error in the OSPA metric. The Hellinger distance provides a measure of the difference between two distributions and is used here to measure the difference between the true and estimated targets where the true and estimated single-target states are characterised by Gaussian(More)
The random finite-set formulation for multiobject estimation provides a means of estimating the number of objects in cluttered environments with missed detections within a unified probabilistic framework. This methodology is now becoming the dominant mathematical framework within the sensor fusion community for developing multiple-target tracking(More)
We present a novel survey path planning technique which minimizes the robot's position uncertainty along the planned path while taking into account area coverage performance. The proposed technique especially targets bathymetric mapping applications and respects application constraints such as the desire to survey in parallel tracks and to avoid turns in(More)
— This paper presents a modular localization and mapping system for intervention autonomous underwater vehicles working in semi-structured environments with known landmarks. The system is divided in several modules to make it as generic as possible. Two visual detection algorithms can be used to compute the position of known landmarks by comparing the(More)
— Two-dimensional forward-looking sonars such as Blueview or DIDSON are becoming a standard sensor in both remotely-operated and autonomous underwater vehicles. Registration of imagery obtained from this sensors is of great interest since it constitutes a key step in several applications like the generation of acoustic mosaics or the extraction of vehicle(More)
Forward-looking sonar can be used for underwater mapping when water visibility is poor. The generation of an acoustic mosaic of the environment is of high interest when underwater vehicles are used for surveys or search tasks. Moreover, if the mosaic is generated in real-time it can be used to provide instantaneous location feedback (e.g. to a ROV pilot or(More)
An Underwater Vehicle Application T he random finite-set formulation for multiobject estimation provides a means of estimating the number of objects in cluttered environments with missed detections within a unified probabilistic framework. This methodology is now becoming the dominant mathematical framework within the sensor fusion community for developing(More)
This paper describes the design and implementation of a visual servo control scheme for an Autonomous Underwater Vehicle (AUV). The purpose of the control scheme is to navigate and stabilize the vehicle towards a visual target. The controller does not utilize the vehicle's dynamic model parameters and guarantees prescribed transient and steady state(More)
— AUVs have experimentally done the first steps to solve basic intervention tasks. First results have been promising in the task of retrieving an object from the seabed. In this paper we extend the complexity of the task with the help of a Learning by Demonstration (LbD) approach. An extension of a LbD algorithm to learn the pose and orientation of the(More)