Reprints: Recent submissions

Now showing items 101-120 of 548

    • Online estimation of unknown parameters in multisensor-multitarget tracking: a belief propagation approach 

      Soldi, Giovanni; Braca, Paolo (CMRE, 2019/05)
      We propose a Bayesian multisensor-multitarget tracking framework, which adapts to randomly changing conditions by continually estimating unknown model parameters along with the target states. The time-evolution of the model ...

    • 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 ...

    • Hybrid Bernoulli filtering for detection and tracking of anomalous path deviations 

      Forti, Nicola; Millefiori, Leonardo; Braca, Paolo (CMRE, 2019/05)
      This paper presents a solution to the problem of sequential joint anomaly detection and tracking of a target subject to switching unknown path deviations. Based on a dynamic model described by Ornstein- Uhlenbeck (OU) ...

    • Doppler passive fathometry 

      Harrison, Chris H. (CMRE, 2019/05)
      Passive fathometry is a technique whereby broadband ambient ocean noise received on an array of hydrophones is averaged and cross-correlated to produce a sub-bottom profile [Siderius, Harrison, and Porter (2006). J. Acoust. ...

    • The ocean noise coherence matrix and its rank 

      Harrison, Chris H. (CMRE, 2019/05)
      An expression for the cross-spectral density matrix of ocean noise naturally separates into a Toeplitz part and a Hankel part [Harrison (2017). J. Acoust. Soc. Am. 141, 2812?2820]. The Toeplitz part is shown to be substantially ...

    • Sub-bands beam-space adaptive beamformer for port-starboard rejection in triplet sonar arrays 

      Stinco, Pietro; Tesei, Alessandra; Maguer, Alain; Ferraioli, Fabrizio; Latini, Valerio; Pesa, Luca (CMRE, 2019/05)
      This paper addresses the problem of Port-Starboard (PS) beamforming for low-frequency active sonar (LFAS) with a triplet receiver array. The paper presents a new algorithm for sub-bands beam-space adaptive beamforming with ...

    • Collaborative hybrid ARQ for CDMA-based reliable underwater acoustic communications 

      Rahmati, Mehdi; Pompili, Dario; Petroccia, Roberto (CMRE, 2019/05)
      Achieving high throughput and reliability in underwater acoustic networks is a challenging task due to the bandwidth-limited and unpredictable nature of the channel. In a multi-node structure, such as in the Internet of ...

    • A modem design for underwater acoustic networking in the High North 

      Pelekanakis, Konstantinos; Green, Dale; Fountzoulas, Yannis; Blouin, Stephane (CMRE, 2019/05)
      We design a software modem for long range underwater acoustic communications in ice-covered oceans. The modem is equipped with three coded modulation schemes achieving 1.8, 21.4 and 96.2 bps, respectively. In addition, we ...

    • An adaptive cross-layer routing protocol for underwater acoustic networks 

      Petroccia, Roberto; Pelekanakis, Konstantinos; Alves, João; Fioravanti, Stefano; Blouin, Stephane; Pecknold, Sean (2019/05)
      This short paper presents an adaptive cross-layer routing protocol for Underwater Acoustic Networks (UANs). The proposed solution, termed NADIR for Network Aware aDaptIve Routing, is fully distributed and self-adaptive. ...

    • A distributed framework for embedded collaborative autonomy 

      Furfaro, Thomas C. (CMRE, 2019/05)
      We have designed and implemented a framework for the development and deployment of multi-agent task allocation solutions, with particular awareness of the operational constraints encountered by Unmanned Maritime Systems ...

    • On adaptive modulation for low SNR underwater acoustic communications 

      Pelekanakis, Konstantinos; Cazzanti, Luca (CMRE, 2019/05)
      This paper deals with adaptive underwater acoustic (UWA) communications where the receiver must operate at low signal-to-noise ratios (SNRs). The proposed modem is equipped with a set of direct sequence spread spectrum ...

    • Development of a software-defined and cognitive communications architecture at CMRE 

      Petroccia, Roberto; Zappa, Giovanni; Furfaro, Thomas C.; Alves, João; D'Amaro, Luigi (2019/05)
      This paper presents an overview of the functionalities of the Cognitive Communications Architecture (CCA) that is currently under development at the NATO Science and Technology Organisation (STO) Centre for Maritime Research ...

    • Liability issues of unmanned surface vehicles 

      Ferreira, Fausto; Alves, João; Bertolini, Andrea; Bargelli, Elena (CMRE, 2019/05)

    • 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 ...

    • 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 ...

    • Maritime anomaly detection based on mean-reverting stochastic processes applied to a real-world scenario 

      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 ...

    • Information and source quality ontology in support of maritime situational awareness 

      Camossi, Elena; Jousselme, Anne-Laure (CMRE, 2019/05)
      To support situation awareness, the benefit of using a variety of sources is undeniable although it brings additional challenges related to possible conflicting information, heterogeneity in data formats, semantics, ...

    • Prediction of rendezvous in maritime situational awareness 

      Uney, Murat; Millefiori, Leonardo; Braca, Paolo (CMRE, 2019/05)
      In this work, we consider the problem of algorithmically predicting rendezvous among vessels based on their trajectory forecasts in a maritime environment. The problem is treated as hypothesis testing on the expected value ...

    • 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 ...

    • 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 ...