365 citations · 387 across the 15 of their papers we have counts for
15 papers
Use of a low-cost forward-looking sonar for collision avoidance in small AUVs, analysis and experimental results
Christopher Morency, Daniel J. Stilwell, Stephen T. Krauss
In this paper, we seek to evaluate the effectiveness of a novel forward-looking sonar system with a limited number of beams for collision avoidance for small autonomous underwater…
Toward optimal placement of spatial sensors
Mingyu Kim, Harun Yetkin, Daniel J. Stilwell +3
This paper addresses the challenges of optimally placing a finite number of sensors to detect Poisson-distributed targets in a bounded domain. We seek to rigorously account for unc…
Non-Submodular Maximization via the Greedy Algorithm and the Effects of Limited Information in Multi-Agent Execution
Benjamin Biggs, James McMahon, Philip Baldoni +1
We provide theoretical bounds on the worst case performance of the greedy algorithm in seeking to maximize a normalized, monotone, but not necessarily submodular objective function…
Evaluating the Benefit of Using Multiple Low-Cost Forward-Looking Sonar Beams for Collision Avoidance in Small AUVs
Christopher Morency, Daniel J. Stilwell
We seek to rigorously evaluate the benefit of using a few beams rather than a single beam for a low-cost obstacle avoidance sonar for small AUVs. For a small low-cost AUV, the comp…
Development of a Simulation Environment for Evaluation of a Forward Looking Sonar System for Small AUVs
Christopher Morency, Daniel J. Stilwell, Sebastian Hess
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the desi…
Unscented Kalman Filtering on Manifolds for AUV Navigation -- Experimental Results
Stephen T. Krauss, Daniel J. Stilwell
In this work, we present an aided inertial navigation system for an autonomous underwater vehicle (AUV) using an unscented Kalman filter on manifolds (UKF-M). The inertial navigati…