Laboratory for Autonomous Marine Sensing Systems
Publications
- Eickstedt, D.P., and Sideleau S.R., "The Backseat Control Architecture for Autonomous Robotic Vehicles: A Case Study with the Iver2 AUV", Mar Tech Soc J, 44(4), pp. 42-54, August 2010.
- T. Schneider and H. Schmidt, “Unified command and control for heterogeneous marine sensing networks.” Journal of Field Robotics, 2010. (In Press). **
- K. L. Cockrell , H. Schmidt, “A modal WKB approach to calculating the waveguide invariant for non-ideal waveguides”, J. Acoust. Soc. Am. , 2010 (In Press)**
- M. R. Benjamin, H. Schmidt, P. Newman and J.J. Leonard, Nested Autonomy for Unmanned Marine Vehicles with MOOS-IvP, Journal of Field Robotics 27(6), 834–875 (2010)
- K. L. Cockrell , H. Schmidt “Calculating the waveguide invariant
for non-ideal waveguides” (Under peer review, JASA)
- K. L. Cockrell, H. Schmidt, “Robust passive range estimation using the waveguide invariant” J. Acoust. Soc. Am.,127, pp. 2780-2789 (May 2010)**
- K. L. Cockrell , H. Schmidt, “A relationship between the waveguide invariant and wavenumber integration” J. Acoust. Soc. Am., 128, pp. EL63-EL68 (July 2010)**
- S. Petillo, A. Balasuriya, H. Schmidt. "Autonomous Adaptive Environmental
Assessment and Feature Tracking via Autonomous Underwater Vehicles." Proceedings
of IEEE Oceans'10 Conference, Sydney, Australia, 24-27 May, 2010. (Submitted).
- A. Balasuriya, S. Petillo, H. Schmidt, M. Benjamin. "Behavior-Based
Planning and Prosecution Architecture for Autonomous Underwater Vehicles
in Ocean Observatories." Proceedings of IEEE Oceans'10 Conference,
Sydney, Australia, 24-27 May, 2010. (Submitted).
- D. R. Thompson, S. Chien,
Y. Chao, P. Li, B. Cahill, J. Levin, O. Schofield, A. Balasuriya, S. Petillo,
M. Arrott, M. Meisinger. "Spatiotemporal Path Planning in Strong, Dynamic,
Uncertain Currents." ICRA 2010. (Submitted).
- D. R. Thompson, S. Chien,
M. Arrott, A. Balasuriya, Y. Chao, P. Li, M. Meisinger, S. Petillo, O. Schofield. "Mission
Planning in a Dynamic Ocean Sensorweb." ICAPS SPARK 2009.
- D. R. Thompson,
S. Chien, M. Arrott, A. Balasuriya, Y. Chao, P. Li, M. Meisinger, S. Petillo,
O. Schofield. "A Mission Planning System for Underwater Gliders." ICAPS
Applications Showcase 2009.
- Eickstedt, D.P., and Sideleau S.R., "The Backseat
Control Architecture for Autonomous Robotic Vehicles: A Case Study with the
Iver2 AUV", in Proc. IEEE/MTS Oceans'09 Conference, Biloxi, MS, October
26-29, 2009.
- Wang, D., Lermusiaux,
P. F. J. *, Haley, P. J., Eickstedt, D., Leslie, W. G., Schmidt, H., “Acoustically
Focused Adaptive Sampling and On-board Routing for Marine Rapid Environmental
Assessment“, Journal of Marine Systems, 78(S1), S393-S407.
- W. Luo and
H. Schmidt, “Three-Dimensional Propagation and Scattering around a
Conical Seamount,” J. Acoust. Soc. of Am., 125(1), 52-65, 2009
- H.
Schmidt, D.P. Eickstedt, A.P. Balasuriya, D. Battle, M.R. Benjamin, Nested
Autonomy – A Concept of Operations for Distributed, Undersea Acoustic
Surveillance, JUA(USN), 59(4), 731-754
(2009)
- A. J. Poulsen, D. P. Eickstedt, and H. Schmidt, “Stabilized
target bearing estimation and tracking for AUVs with towed hydrophone arrays,” JUA(USN),
59(4), 559-573 (2009).
- A. Balasuriya, H. Schmidt, M.B. Benjamin, “Integrated sensing, modeling,
and control in undersea sensor networks (A)”, J. Acoust. Soc. Am. 123
3007 (2008)
- H. Schmidt, K.D. Lepage, “Propagation, scattering and reverberation
in an ice-covered Arctic ocean (A)”, J. Acoust. Soc. Am. 123 2989 (2008)
- K. Cockrell, H. Schmidt, “Source localization and tracking in a
waveguide via sequential bayesian estimation (A)” J. Acoust. Soc. Am.
123 3339 (2008)
- Eickstedt, D.P., Benjamin, M.R., Wang, D., Schmidt, H., "Behavior
Based Adaptive Control for Autonomous Oceanographic Sampling", in
Proc. 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, pp. 4245-4250,
April 2007.
- Benjamin, M.R., Battle, D., Eickstedt, D.P.,Schmidt, H., Balasuriya, A.,
"Autonomous Control of an Autonomous
Underwater Vehicle Towing a Vector Sensor Array", in Proc. 2007 IEEE
Int. Conf. on Robotics and Automation, Rome, Italy, pp. 4562-4569, April 2007.
- Lucifredi, I., Schmidt, H., "Subcritical
scattering from buried elastic shells", J. Acoust. Soc. Am. 120
(6), pp. 3566-3583, December 2006.
- D. Wang, P. F. J. Lermusiaux, Patrick J. Haley, Wayne G. Leslie and Henrik
Schmidt, "Adaptive Acoustical-Environmental
Assessment for the Focused Acoustic Field-05 At-sea Exercise", In
Press, Proceedings of IEEE/MTS Oceans'06 Conference, Boston,MA, September
18-21, 2006.
- Namik Kemal Yilmaz, Constantinos Evangelinos, Nicholas M. Patrikalakis,
Pierre F. J. Lermusiaux, Patrick J. Haley, Wayne G. Leslie, Allan R. Robinson,
Ding Wang and Henrik Schmidt, "Path
Planning Methods for Adaptive Sampling of Environmental and Acoustical Ocean
Fields", In Press, Proceedings of IEEE/MTS Oceans'06 Conference,
Boston, MA, September 18-21, 2006.
- Eickstedt, D.P., Benjamin M.R., "Cooperative
Target Tracking in a Distributed Autonomous Sensor Network", pp.
1-6, Proceedings of IEEE/MTS Oceans'06 Conference, Boston, MA, September
18-21, 2006.
- Poulsen, A.J., Eickstedt, D.P., "Bearing
Stabilization and Tracking for an AUV with an Acoustic Line Array",
pp. 1-6, Proceedings of IEEE/MTS Oceans'06 Conference, Boston, MA,
September 18-21, 2006.
- Eickstedt, D.P., Benjamin, M.R., Schmidt, H., Leonard, J.J., "Adaptive
Control in Heterogeneous Marine Sensor Platforms in an Autonomous Sensor Network",
pp. 5514-5521, Proceedings of the 2006 IEEE/RSJ Int. Conf. on Intelligent
Robots and Systems, Beijing, China, October 2006.
- Eickstedt, D.P., Benjamin, M.R., Schmidt, H., Leonard, J.J., "Adaptive
Tracking of Underwater Targets with Autonomous Sensor Networks",
JUA(USN) 56, 465-495 (2006).
- E. Olson, J. J. Leonard and S. Teller. Robust Range-Only Beacon Localization.
Accepted for publication in IEEE Journal of Oceanic Engineering,
2006.
- M. Walter, R. Eustice, J. Leonard. A Provably Consistent Method for Imposing
Sparsity in Feature-based SLAM Information Filters. In Proceedings of the
Twelfth International Symposium on Robotics Research, San Fransisco, CA, October,
2005.
- A. Bahr and J. Leonard. Cooperative Localization for Autonomous Underwater
Vehicles. To appear in Proceedings of Experimental Robotics X, Rio de Janeiro,
Brazil, July, 2006.
- E. Olson, J. Leonard, S. Teller. Fast Iterative Alignment of Pose Graphs
with Poor Initial Estimates. In Proceedings of the IEEE International Conference
on Robotics and Automation, pages 2262-2269, May, 2006.
- M. Montanari, J.R. Edwards, and H. Schmidt. “Autonomous
Underwater Vehicle-based Concurrent Detection and Classification Concept Using
Higher-order Spectral Analysis,” IEEE Journal of Oceanic Engineering,
Vol.31, No.1, pp.188-199, January 2006.
- H. Schmidt, “Integrated, Autonomous Sonar Concept for Concurrent Detection,
Classification and Localization in Littoral MCM,” In Boundary Influences
in High Frequency, Shallow Water Acoustics, University of Bath Press, Bath,
UK, 2005.
- J. Curcio, J. Leonard, J. Vaganay, A. Patrikalakis, A. Bahr, D. Battle,
H. Schmidt, M. Grund, “Experiments in Moving Baseline Navigation using
Autonomous Surface Craft” in Proceedings of Oceans-2005, MTS/IEEE
- D. Wang, H. Schmidt, Adaptive Rapid Environmental Assessment and Simulation
Framework, 149th Meeting Acoustical Society of America, Vancouver, Canada,
May 2005.
- D. Wang, H. Schmidt, Adaptive Sampling in Ocean Environment for Sonar Performance
Prediction, Dynamic positioning & Marine Technology Society Symposium,
Sep 2004.
- H. Schmidt, “Virtual source approach to scattering from partially
buried elastic targets”, In High Frequency Acoustics, M.B. Porter, M.
Siderius, W.A. Kuperman, Eds., American Institute of Physics, 2004.
- D. Wang, H. Schmidt, Investigation of the relative significance of individual
environmental parameters to sonar performance prediction uncertainty, Acoustic
Society of America Conference, Dec 2002.
- Tesei, A., Maguer, A., Fox, W.L.J., Lim, R., Schmidt, H. Variability of
the acoustic response from spherical shells buried in the seabed by model-based
analysis of the at-sea data. In: Pace, N.G., Jensen, F.B., editors. Impact
of Littoral Environmental Variability on Acoustic Predictions and Sonar Performance,
Kluwer Academic Publishers, pp.497-504. 2002.
- Baggeroer, A.B., Schmidt, H. Performance bounds on the detection and localization
in a stochastic ocean. In: Pace, N.G., Jensen, F.B., editors. Impact of Littoral
Environmental Variability on Acoustic Predictions and Sonar Performance, Kluwer
Academic Publishers, pp.507-514. 2002.
- Schmidt, H. AREA: Adaptive Rapid Environment Assessment (Invited paper).
In: Pace, N.G., Jensen, F.B., editors. Impact of Littoral Environmental Variability
on Acoustic Predictions and Sonar Performance, Kluwer Academic Publishers,
pp.587-594. 2002.
- Xu, W., Baggeroer, A.B., Schmidt, H. “Quantitative ambiguity analysis
for match-field source localization”. Proceedings of Asilomar Conference
on Signals, Systems, and Computers, pp448-452, 2002.
- Xu, W., Schmidt, H. “System-orthogonal
functions for sound velocity profile perturbation”, IEEE Journal
of Oceanic Engineering, Vol.31, No.1, pp.156-169, January 2006.
- J.R. Edwards, “Acoustic classification of buried objects with mobile
sonar platforms,” PhD Thesis, Massachusetts Institute of Technology,
Sep. 2005.
- H. Schmidt, “Virtual source approach to
scattering from partially buried elastic targets”, In High Frequency
Acoustics, M.B. Porter, M. Siderius, W.A. Kuperman, Eds., American Institute
of Physics, 2004.
- D. Battle, P. Gerstoft, W. S. Hodgkiss, W. A. Kuperman and P. Nielsen,
“Bayesian model selection applied to self-noise geoacoustic inversion,”
Journal of the Acoustical Society of America, 116(4), pp 2043-2056, 2004.
- W. Luo, “A three-dimensional coupled mode solution for range-dependent
waveguides,” MS Thesis, Massachusetts Institute of Technology, Feb.
2005.
- M. C. Bosse, P. M. Newman, J. J. Leonard, and S. Teller. “An Atlas
Framework for Scalable Mapping.” International Journal of Robotics Research,
23(12), December, 2004.
- D. Moore, J. Leonard, D. Rus, S. Teller. “Robust distributed network
localization with noisy range measurements.” In Proceedings of the Second
ACM Conference on Embedded Networked Sensor Systems (SenSys'04). Baltimore,
MD. November 3-5, 2004.
- E. Olson, M. Walter, S. Teller, and J. Leonard. “Single-Cluster Spectral
Graph Partitioning for Robotics Applications.” To Appear In Proceedings
of Robotics: Science and Systems, Cambridge, MA, June, 2005.
- R. Eustice, M. Walter, and J. Leonard. “Sparse Extended Information
Filters: Insights Into Sparsification.” To appear in Proceedings of
the International Conference on Robots and Systems, Edmonton, CA, 2005.
- M. Walter, R. Eustice, J. Leonard. “A Provably Consistent Method
for Imposing Sparsity in Feature-based SLAM Information Filters.” To
appear in Proceedings of the Twelth International Symposium on Robotics Research,
San Fransisco, CA, 2005.
- E. Olson, J. J. Leonard and S. Teller, "Robust Range-only Beacon Localization'',
In Proceedings of IEEE Conf. on Autonomous Underwater Vehicles, Maine, 2004.
- J. Vaganay, J. J. Leonard, J. A. Curcio, and J. S. Willcox, "Experimental
Validation of the Moving Long Base-Line Navigation Concept'', In Proceedings
of IEEE Conference on Autonomous Underwater Vehicles, Maine, 2004.
- M. Dragone, R. O'Donoghue, J. J. Leonard, G. O'Hare, B. Duffy, A. Patrikalakis,
and J. Leederkerken. ``Robot Soccer Anywhere: Achieving Persistent Autonomous
Navigation, Mapping and Object Vision Tracking in Dynamic Environments'',
In Proceedings of SPIE OptoIreland, Dublin, Ireland, April, 2004.
- J. Curcio, J. Leonard, and A. Patrikalakis. "SCOUT --- A Low Cost
Autonomous Surface Platform for Research in Cooperative Autonomy'', In Proceedings
of IEEE Oceans, September, 2005.
- D. Wang, “Adaptive Rapid Environmental Assessment System Simulation
Framework”, MS Thesis, Massachusetts Institute of Technology, Dec. 2004.
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