An entropic framework for AUV sensor modelling

Search methods for an autonomous underwater vehicle using scalar measurements

“…A mathematical representation of the bathymetry of Herring Pond, located just north of the Cape Cod Canal in Massachusetts, was obtained from (Singh[1995]). This data set was used to experiment with variations of the DSM.…”

“…If significant currents exist, this will affect both parameter variation and the vehicle's ability to maneuver and navigate. Parameters with a discrete introduction point will develop a definable structure in the presence of a predominant cross flow as seen in Lavelle's model and data retrieved by ABE at the FLOC site on the Juan de Fuca Ridge in August 1995 (Singh, et. al.[1995]).…”

“…The simplicity of driving in a circle has been proposed as the preferred basis for determining the next direction to drive the toward the global extrema (Singh, et. al.[1995]).…”

Terrain-relative navigation for autonomous underwater vehicles

“…Along different lines, future research could center on joining the terrain-relative navigation system with a mapping process Singh;Stewart 1988;Tuohy]. If the mapping routine were continually active, navigation could be achieved in a dynamic environment.…”

Issues in AUV design and deployment for oceanographic research

“…The probabilistic values are calculated by using a physics-based model of the acoustic sensig modality [9] which take into account the sonar receiving and transmitting beam patterns, the source level, and the transmission and absorption losses. Now if we consider that the sonar sensing modality is a stochastic process we can derive the rate of information arriving from the sonar by defining an entropic measure H, similar to that defined by Shannon[lO] for use in communications systems.…”