In this paper, the problem of collaborative tracking of an underwater target using autonomous surface vehicles is studied. As a solution, we consider distance-based formation control with a collision-avoidance potential function. The devised formation control protocol is applied to the formation tracking problem, where vehicles form a desired formation around a moving target and estimate its position. More precisely, the centroid of the formation tracks the target. Almost global stability is proved for the case with three tracking agents. A fully operational platform with four autonomous surface vehicles was built to implement the derived algorithms, where one of the vehicles was used to simulate a target and the rest to try to form a triangle formation around the target. Power usage of a naval vessel is highly affected by resistance forces which increases significantly with velocity. To account for this and increase the overall system endurance, the derived formation tracking protocol was furthermore modified with an additional term. Experimental results are presented.

In Arctic alpine regions, glacio‐lacustrine environments respond sensitively to variations in climate conditions, impacting, for example,glacier extent and rendering former ice‐contact lakes into ice distal lakes and vice versa. Lakefloors may hold morphological records of past glacier extent, but remoteness and long periods of ice cover on such lakes make acquisition of high‐resolution bathymetric datasets challenging. Lake Tarfala and Kebnepakte Glacier, located in the Kebnekaise mountains, northern Sweden, comprise a small, dynamic glacio‐lacustrine system holding a climate archive that is not well studied. Using an autonomous surface vessel, a high‐resolution bathymetric dataset for Lake Tarfala was acquired in 2016, from which previously undiscovered end moraines and a potential grounding line feature were identified. For Kebnepakte Glacier, structure‐from‐motion photogrammetry was used to reconstruct its shape from photographs taken in 1910 and 1945. Combining these methods connects the glacial landform record identified at the lakefloor with the centennial‐scale dynamic behaviour of Kebnepakte Glacier. During its maximum 20th century extent, attained c. 1910, Kebnepakte Glacier reached far into Lake Tarfala, but had retreated onto land by 1945, at an average of 7.9 m year–1. Copyright © 2019 John Wiley & Sons, Ltd.

This paper addresses the source localization problem of an acoustic fish-tag using the Time-of-Arrival measurement of an acoustic signal, transmitted by the fish-tag. The Time-of-Arrival measurements denote the pseudo-range information between the acoustic receiver and the fish-tag, except that the Time-of-Transmission of the acoustic signal is unknown. Starting with the pseudo-range measurement equation, a globally valid quasi-linear time-varying measurement model is presented that is independent of the Time-of-Transmission of the acoustic signal. Using this measurement model, an Uniformly Globally Asymptotically Stable (UGAS), three stage estimation strategy (eXogenous Kalman Filter) is designed to estimate the position of an acoustic fish-tag and evaluated against a benchmark Extended Kalman Filter based estimator. The efficacy of the developed estimation method is demonstrated experimentally, in presence of intermittent observations using an array of receivers mounted on three Unmanned Surface Vessels (USVs).

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