Browsing by Author "Ferri, Gabriele"
Now showing items 1-19 of 19
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A data-driven control strategy in synergy with continuous active sonar for littoral underwater surveillance
Ferri, Gabriele; Munafó, Andrea; Alves, João; LePage, Kevin D. (CMRE, 2017/11)In this work, we describe a data-driven Mission Management Layer (MML) running on-board AUVs which manages the phases of a littoral surveillance mission and exploits the characteristics of Continuous Active Sonar (CAS) ... -
Adaptive filter of seabed clutter onboard the AUVs of an active multistatic sonar network
Micheli, Michele; Tesei, Alessandra; Ferri, Gabriele; Stinco, Pietro (CMRE, 2019/05)This work aims at reducing the false alarm rate of a multistatic active sonar working in coastal, shallow waters. The sonar system is implemented through a heterogeneous manned-unmanned network including autonomous underwater ... -
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 ... -
Autonomous underwater surveillance networks: a task allocation framework to manage cooperation
Ferri, Gabriele; Bates, Jeffrey; Stinco, Pietro; Tesei, Alessandra; LePage, Kevin D. (2019/05)The design of efficient task allocation schemes is essential to manage autonomous underwater robotic surveillance networks. The network has to assign the most suited robots to the tasks which compose the mission, in spite ... -
An autonomous underwater vehicle data-driven control strategy for target tracking
Ferri, Gabriele; Munafò, Andrea; LePage, Kevin D. (CMRE, 2019/05)This paper presents a data-driven approach to control the movement of autonomous underwater vehicles (AUVs) operating as receivers of a multistatic sonar surveillance network. The algorithm adopts a nonmyopic receding ... -
AUV active perception: exploiting the water column
Munafò, Andrea; Ferri, Gabriele; LePage, Kevin D.; Goldhahn, Ryan A. (CMRE, 2019/06)Autonomous Underwater Vehicles (AUVs) present a low-cost alternative or supplement to existing underwater surveillance networks. The NATO STO Centre for Maritime Research and Experimentation is developing collaborative ... -
Boosting the talent of new generations of marine engineers through robotics competitions in realistic environments: the SAUC-E and euRathlon experience
Ferri, Gabriele; Ferreira, Fausto; Djapic, Vladimir (CMRE, 2019/06)This article summarizes the experience of the NATO Science and Technology Organization (STO) Centre for Maritime Research and Experimentation (CMRE) in the organization of the Student Autonomous Underwater Vehicle ... -
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 ... -
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 ... -
The euRathlon 2015 Grand Challenge: the first outdoor multi-domain search and rescue robotics competition - a marine perspective
Ferri, Gabriele; Ferreira, Fausto; Djapic, Vladimir; Petillot, Yvan; Palau Franco, Marta (CMRE, 2019/06)The euRathlon project was an FP7-funded Coordination and Support Action (2013-2015). Its main aim was to organize outdoor robotics competitions in realistic search and rescue response scenarios for cooperative land, sea, ... -
Fostering marine robotics through competitions: from SAUC-E to ERL Emergency 2018
Ferri, Gabriele; Ferreira, Fausto; Djapic, Vladimir (CMRE, 2019/05)Marine robotics competitions and challenges are today very popular in the robotics community. Their value mainly lies in the opportunities they provide to teams (both student and professional) for developing and testing ... -
A market-based task allocation framework for autonomous underwater surveillance networks
Ferri, Gabriele; Munafò, Andrea; Tesei, Alessandra; LePage, Kevin D. (CMRE, 2019/06)Realisation of underwater robotic surveillance networks raises several challenges for marine robotics. The underwater scenario is typically characterised by intermittent and unreliable communication. This makes it challenging ... -
Multi-domain robotics competitions: the CMRE experience from SAUC-E to the European Robotics League Emergency Robots
Ferri, Gabriele; Ferreira, Fausto; Djapic, Vladimir (CMRE, 2019/06)This paper details the experience of the Centre for Maritime Research and Experimentation (CMRE) in the organisation of several robotics competitions since 2010. In particular, the Student Autonomous Underwater Vehicle ... -
Real-time underwater positioning and navigation of an AUV in deep waters
Tesei, Alessandra; Micheli, Michele; Vermeij, Arjan; Ferri, Gabriele; Mazzi, Marco; Grenon, Gabriel; Morlando, Luca; Biagini, Stefano; LePage, Kevin D.; Costanzi, Riccardo; Fenucci, Davide; Caiti, Andrea; Munafò, Andrea (CMRE, 2019/05)Due to the absence of GPS, navigation of autonomous vehicles underwater requires the integration of various measurements to provide the best location estimate. Usually in littoral waters, adequate navigational accuracy may ... -
Scoring robotic competitions: balancing judging promptness and meaningful performance evaluation
Ferreira, Fausto; Ferri, Gabriele; Petillot, Yvan; Liu, Xingkun; Palau Franco, Marta; Matteucci, Matteo; Perez Grau, Francisco Javier; Winfield, Alan Ft. (CMRE, 2019/05)To have a significant and fair competition an adequate scoring system is necessary. Different scoring systems exist, each one directly related to the nature and goals of the competition, e.g. student/educational, focused ... -
Supporting AUV localisation through next generation underwater acoustic networks: results from the field
Munafó, Andrea; Furfaro, Thomas C.; Ferri, Gabriele; Alves, João (CMRE, 2017/11)This work describes how the localisation of autonomous underwater vehicles can be supported through net-worked acoustic communication. The localisation approach in-cludes timing information within acoustic messages to ... -
Towards fully autonomous underwater vehicles in ASW scenarios: an adaptive data driven AUV mission management layer
Ferri, Gabriele; Munafò, Andrea; Goldhahn, Ryan A.; LePage, Kevin D. (CMRE, 2019/06)We present an adaptive, data driven Mission Management Layer (MML) to manage the phases (surveillance, track prosecution and target reacquisition) of the mission of AUVs operating as receiver nodes in a multistatic network ... -
Underwater optical and acoustic imaging: a time for fusion? a brief overview of the state-of-the-art
Ferreira, Fausto; Machado, Diogo; Ferri, Gabriele; Dugelay, Samantha; Potter, John Robert (CMRE, 2019/06)Underwater optical imaging has several drawbacks inherent to the physical medium such as light attenuation and turbidity. Sonars try to obviate those issues although, typically, they have lower resolutions. Combining visual ...