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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)
In this paper, new tools for obstacle avoidance and path planning for underwater vehicles are presented. The authors technique, based on a level set formulation of the path planning problem, extracts optimal paths from complex and continuous environments in a complete and consistent manner. Fast Marching algorithm is known to be efficient for finding cost(More)
This paper uses advanced time-frequency signal analysis techniques to generate new models for bio-inspired sonar signals. The inspiration comes from the analysis of bottlenose dolphin clicks. These pulses are very short duration, between 50 and 80 micros, but for certain examples we can delineate a double down-chirp structure using fractional Fourier(More)
To date most sonars use narrow band pulses and often only the echo envelope is used for object detection and classification. This paper considers the advantages afforded by bio-inspired sonar for object identification and classification through the analysis and the understanding of the broadband echo structure. Using the biomimetic dolphin based sonar(More)
The Ocean Systems Laboratory is developing bio-inspired wideband acoustic sensing methods for underwater target detection and tracking. In this paper we explore what we expect to gain from wideband sonar used alone or in combination with ubiquitous sidescan and forward-look imaging sonars. The wideband sensors themselves are based on bottlenose dolphin(More)
Target recognition in sonar imagery has long been an active research area in the maritime domain, especially in the mine-counter measure context. Recently it has received even more attention as new sensors with increased resolution have been developed; new threats to critical maritime assets and a new paradigm for target recognition based on autonomous(More)
MIMO systems have raised a lot of interest in the recent years. The radar community pointed out the multiple advantages of MIMO systems such as diversity gain for target detection, angle of arrival and Doppler estimation. Coherent processing also allows super-resolution for target localisation. We explore in this paper broadband MIMO sonar systems. In the(More)
Multiple Input Multiple Output sonar systems offer new perspectives for target detection and underwater surveillance. In this paper we present an unified formulation for sonar MIMO systems and study their properties in terms of target recognition and imaging. Here we are interested in large MIMO systems. The multiplication of the number of transmitters and(More)
Marinemammals have developed highly effective sonar systems for detecting, identifying, and following underwater objects. In this paper we demonstrate that bio-inspired wideband sonar offers great capability for tracking cables on the seafloor. The analysis of biological signals, including dolphin clicks, suggests two approaches. The first is to use a(More)