A novel version of the adaptive sonar signal thresholding scheme using RBF neural networks is proposed in this paper. Intensity thresholding has proven to be an effective technique to eliminate the low energy noise and to reduce the computational load in an underwater target tracking system. The adopted technique yields unbiased estimates under a non-homogenous sea environment, because the fals...

The emphasis of the MIT SWAMSI effort has focused on utilizing high fidelity acoustic modeling of both scatterers and shallow-water environments to better understand and bound the limits of detectability for mine-like objects via autonomous networks of sensors, and the assess the performance of time-reversal processing for concurrent detection, classification, localization and Tracking (DCLT) o...

Target motion analysis (TMA) visualisation is used by naval ships to locate targets around ownship when more accurate methods such as active sonar are not viable. TMA utilises an array of data, the main source being passive sonar, and results in an almost infinite number of possible solutions. These solutions must be filtered by the TMA operator to identify the most probable or hazardous soluti...

This paper presents a first detailed case study of collaborative exploration of a substantial environment.We use a pair of cooperating robots to test multi-robot environment mapping algorithms based on triangulation of free space (see video). The robots observe one another using a robot tracking sensor based on laser range sensing (LIDAR). The environment mapping itself is accomplished using so...

Echolocating bats transmit ultrasonic vocalizations and use information contained in the reflected sounds to analyze the auditory scene. Auditory scene analysis, a phenomenon that applies broadly to all hearing vertebrates, involves the grouping and segregation of sounds to perceptually organize information about auditory objects. The perceptual organization of sound is influenced by the spectr...

Multistatic Sonar Systems (MSS) based on manned or stationary systems provides necessary performance for Anti Submarine Warfare (ASW) surveillance operations. Sufficiently accurate sensor models are implemented in data fusion algorithms in order to exploit the added-value of the multiple aspects on the target. The logical follow-on is to use them to control the sensors, leading to an MSS based ...

Bats actively adjust the acoustic features of their sonar calls to control echo information specific to a given task and environment. A previous study investigated how bats adapted their echolocation behavior when tracking a moving target in the presence of a stationary distracter at different distances and angular offsets. The use of only one distracter, however, left open the possibility that...

A computational sensorimotor model of target capture behavior by the echolocating bat, Eptesicus fuscus, was developed to understand the detection, localization, tracking, and interception of insect prey in a biological sonar system. This model incorporated acoustics, target localization processes, flight aerodynamics, and target capture planning to produce model trajectories replicating those ...

Bats actively adjust the acoustic features of their sonar calls to control echo information specific to a given task and environment. A previous study investigated how bats adapted their echolocation behavior when tracking a moving target in the presence of a stationary distracter at different distances and angular offsets. The use of only one distracter, however, left open the possibility that...