Browsing by Author "Braca, Paolo"
Now showing items 1-20 of 54
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Adaptive filtering of imprecisely time-stamped measurements with application to AIS networks
Millefiori, Leonardo; Braca, Paolo; Bryan, Karna; Willett, Peter K. (CMRE, 2019/06)Driven by real-world issues in maritime surveillance, we consider the problem of estimating the target state from a sequence of observations that can be imprecisely time-stamped. That is, the time between two consecutive ... -
Anomaly detection and tracking based on mean-reverting processes with unknown parameters
Forti, Nicola; Millefiori, Leonardo; Braca, Paolo; Willett, Peter K. (CMRE, 2019/05)Piecewise mean-reverting stochastic processes have been recently proposed and validated as an effective model for long-term object prediction. In this paper, we exploit the Ornstein-Uhlenbeck (OU) dynamic model to represent ... -
Autonomous networked anti-submarine warfare research and development at CMRE
LePage, Kevin D.; Goldhahn, Ryan A.; Alves, João; Strode, Christopher; Braca, Paolo; Ferri, Gabriele; Munafò, Andrea; Oddone, Manlio; Sildam, Jüri; Baralli, Francesco; Biagini, Stefano; Canepa, Gaetano; Colombo, Marco; Grandi, Vittorio; Grenon, Gabriel; Mazzi, Marco; Micheli, Michele; Parisi, Gerardo; Saia, Paolo; Vermeij, Arjan; Zappa, Giovanni (CMRE, 2019/06)CMRE has been evaluating the potential of autonomous networked ASW using underwater vehicles through a program of sonar signal processing, underwater communications, navigation and robotic behavior developments and at-sea ... -
Bayesian multi-class covariance matrix filtering for adaptive environment learning
Braca, Paolo; Aubry, Augusto; Millefiori, Leonardo; De Maio, Antonio; Marano, Stefano (CMRE, 2019/05)Covariance matrix estimation is a crucial task in adaptive signal processing applied to several surveillance systems, including radar and sonar. In this paper we propose a dynamic environment learning strategy to track ... -
Bayesian track-to-graph association for maritime traffic monitoring
Grasso, Raffaele; Millefiori, Leonardo; Braca, Paolo (CMRE, 2019/05)We present a hypothesis test to associate ship track measurements to an edge of a given graph that statistically models common traffic routes in a given area of interest. The association algorithm is based on the hypothesis ... -
Belief propagation based AIS/radar data fusion for multi-target tracking
Gaglione, Domenico; Braca, Paolo; Soldi, Giovanni (CMRE, 2019/05)A data fusion technique aiming at combining observations from two classes of sensors is proposed. The first class consists of sensors that produce periodic noisy observations of the targets; moreover, they may also miss ... -
Consistent estimation of randomly sampled Ornstein-Uhlenbeck process long-run mean for long-term target state prediction
Millefiori, Leonardo; Braca, Paolo; Willett, Peter K. (CMRE, 2019/06)In this letter, we study the problem of estimating the long-run mean of the Ornstein-Uhlenbeck (OU) stochastic process and its effect on the long-term prediction of future vessel states, which is a crucial problem for ... -
Converted measurements Bayesian extended target tracking applied to X-band marine radar data
Vivone, Gemine; Braca, Paolo; Granström, Karl; Natale, Antonio; Chanussot, Jocelyn (CMRE, 2019/06)X-band marine radar systems are flexible and low-cost tools for monitoring multiple targets in a surveillance area. They can provide high resolution measurements both in space and time. Such features offer the opportunity ... -
Converted measurements random matrix approach to extended target tracking using X-band marine radar data
Vivone, Gemine; Braca, Paolo; Granström, Karl; Natale, Antonio; Chanussot, Jocelyn (CMRE, 2019/06)Conventional tracking algorithms rely upon the hypothesis of one detection per target for each frame. However, very fine spatial resolution radars represent widespread systems that provide data for which this hypothesis ... -
Cooperative robotic networks for underwater surveillance: an overview
Ferri, Gabriele; Munafò, Andrea; Tesei, Alessandra; Braca, Paolo; Meyer, Florian; Pelekanakis, Konstantinos; Petroccia, Roberto; Alves, João; Strode, Christopher; LePage, Kevin D. (CMRE, 2019/06)Underwater surveillance has traditionally been carried out by means of surface and undersea manned vessels equipped with advanced sensor systems. This approach is often costly and manpower intensive. Marine robotics is an ... -
Data driven vessel trajectory forecasting using stochastic generative models
Uney, Murat; Millefiori, Leonardo; Braca, Paolo (2019/05)In this work, we propose a data driven trajectory forecasting algorithm that utilizes both recorded historical and streaming trajectory observations. The algorithm performs Bayesian inference on a directed graph the walks ... -
Detecting anomalous deviations from standard maritime routes using the Ornstein-Uhlenbeck process
D'Afflisio, Enrica; Braca, Paolo; Millefiori, Leonardo; Willett, Peter K. (CMRE, 2019/05)A novel anomaly detection procedure based on the Ornstein-Uhlenbeck (OU) mean-reverting stochastic process is presented. The considered anomaly is a vessel that deviates from a planned route, changing its nominal velocity ... -
Detection, tracking and fusion of multiple HFSW radars for ship traffic surveillance: experimental performance assessment
Maresca, Salvatore; Braca, Paolo; Horstmann, Jochen (CMRE, 2014/05)Low-power HF surface-wave radars fit well the role of long-range early-warning tools in maritime situational awareness applications, by virtue of their over-the-horizon coverage capability and continuoustime mode of ... -
Distributed information fusion in multistatic sensor networks for underwater surveillance
Braca, Paolo; Goldhahn, Ryan A.; Ferri, Gabriele; LePage, Kevin D. (CMRE, 2019/06)Surveillance in antisubmarine warfare has traditionally been carried out by means of submarines or frigates with towed arrays. These techniques are manpower intensive. Alternative approaches have recently been suggested ... -
Distributed information fusion in multistatic sensor networks for underwater surveillance
Braca, Paolo; Goldhahn, Ryan A.; Ferri, Gabriele; LePage, Kevin D. (CMRE, 2017/11)Surveillance in antisubmarine warfare has traditionally been carried out by means of submarines or frigates with towed arrays. These techniques are manpower intensive. Alternative approaches have recently been suggested ... -
Distributed underwater glider network with consensus Kalman filter for environmental field estimation
Grasso, Raffaele; Braca, Paolo; Fortunati, Stefano; Gini, Fulvio; Greco, Maria S. (CMRE, 2019/06)A distributed coordinated dynamic sensor network for optimal environmental field estimation is proposed and tested on simulated and real data. The architecture is used to distribute the estimation of 3D timevarying fields ... -
Dynamic underwater glider for environmental field estimation
Grasso, Raffaele; Braca, Paolo; Fortunati, Stefano; Gini, Fulvio; Greco, Maria S. (CMRE, 2019/06)A coordinated dynamic sensor network of autonomous underwater gliders to estimate three-dimensional time-varying environmental fields is proposed and tested. Integration with a network of surface relay nodes and asynchronous ... -
Dynamic underwater sensor network for sparse field estimation
Grasso, Raffaele; Braca, Paolo; Fortunati, Stefano; Gini, Fulvio; Greco, Maria S. (CMRE, 2019/06)A coordinated dynamic network of autonomous underwater gliders to estimate 3D environmental sparse fields is proposed and tested. Field spatial sparsity is exploited in the estimation algorithm. Moreover field measurements ... -
Environmental field estimation by consensus based dynamic sensor networks and underwater gliders
Grasso, Raffaele; Braca, Paolo; Fortunati, Stefano; Gini, Fulvio; Greco, Maria S. (CMRE, 2019/06)A coordinated dynamic sensor network of autonomous underwater gliders to estimate 3D time-varying environmental fields is proposed and tested. Each sensor performs local Kalman filter sequential field estimation. A network ... -
Extended target tracking applied to X-band radar data
Vivone, Gemine; Braca, Paolo; Errasti, Borja (CMRE, 2019/06)X-band marine radar systems are flexible and low-cost tools for monitoring multiple targets in a surveillance area. They are able to provide high resolution measurements in both space and time. Such features offer the ...