Produced by Naval Postgraduate School CED3.This brochure includes information about the departmen... more Produced by Naval Postgraduate School CED3.This brochure includes information about the department of electrical and computer engineering including: the problem, the curriculum, the outcomes, and the requirements
This paper proposes the rst all-neighbor fuzzy logic data association approach in distributed mul... more This paper proposes the rst all-neighbor fuzzy logic data association approach in distributed multisensor-multitarget (MSMT) tracking systems. Unlike all fuzzy logic data association algorithms, which assign only one observation to each track according to some association measure, the proposed all-neighbor fuzzy logic data association approach incorporates all observations within the gate of the predicted target state to update the state estimate using a degree of membership weighted sum of innovations. To demonstrate the feasibility, e ciency, and simplicity of the proposed approach to perform data association in multisensor-multitarget environment, it is applied to an example of a four-dimensional tracking system. The performance of the proposed approach is evaluated using Monte Carlo simulations. Its performance is also compared to the performance of the nearest neighbor standard lter (NNSF) and perfect data association. The results shows that the proposed approach is very e cient.
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97
Abstract High precision bottom estimation techniques in unmanned underwater vehicles (UUVs) are e... more Abstract High precision bottom estimation techniques in unmanned underwater vehicles (UUVs) are examined in this paper. Environment sensing is performed by a high-frequency pencil beam profiling sonar mounted on Roby2, a small prototype UUV developed at CNR Istituto Automazione Navale. A multi-hypothesis extended Kalman filter to estimate the bottom slope and its distance from the vehicle is presented. Results obtained by applying this algorithm to real data collected with the vehicle moving in a high-diving pool are ...
Asilomar Conference on Signals, Systems & Computers, 1997
The problem of decision fusion in distributed sensor systems is considered. Distributed sensors p... more The problem of decision fusion in distributed sensor systems is considered. Distributed sensors pass their decisions to a fusion center that combines the received decisions from the various sensors into a final global decision. The case where only two sensors are combined using an AND fusion rule was analyzed by Kovattana (1973), and the cases where two and three sensors
Public reporting burden for this collection of information is estimated to average 1 hour per res... more Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington
Produced by Naval Postgraduate School CED3.This brochure includes information about the departmen... more Produced by Naval Postgraduate School CED3.This brochure includes information about the department of electrical and computer engineering including: the problem, the curriculum, the outcomes, and the requirements
This paper proposes the rst all-neighbor fuzzy logic data association approach in distributed mul... more This paper proposes the rst all-neighbor fuzzy logic data association approach in distributed multisensor-multitarget (MSMT) tracking systems. Unlike all fuzzy logic data association algorithms, which assign only one observation to each track according to some association measure, the proposed all-neighbor fuzzy logic data association approach incorporates all observations within the gate of the predicted target state to update the state estimate using a degree of membership weighted sum of innovations. To demonstrate the feasibility, e ciency, and simplicity of the proposed approach to perform data association in multisensor-multitarget environment, it is applied to an example of a four-dimensional tracking system. The performance of the proposed approach is evaluated using Monte Carlo simulations. Its performance is also compared to the performance of the nearest neighbor standard lter (NNSF) and perfect data association. The results shows that the proposed approach is very e cient.
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97
Abstract High precision bottom estimation techniques in unmanned underwater vehicles (UUVs) are e... more Abstract High precision bottom estimation techniques in unmanned underwater vehicles (UUVs) are examined in this paper. Environment sensing is performed by a high-frequency pencil beam profiling sonar mounted on Roby2, a small prototype UUV developed at CNR Istituto Automazione Navale. A multi-hypothesis extended Kalman filter to estimate the bottom slope and its distance from the vehicle is presented. Results obtained by applying this algorithm to real data collected with the vehicle moving in a high-diving pool are ...
Asilomar Conference on Signals, Systems & Computers, 1997
The problem of decision fusion in distributed sensor systems is considered. Distributed sensors p... more The problem of decision fusion in distributed sensor systems is considered. Distributed sensors pass their decisions to a fusion center that combines the received decisions from the various sensors into a final global decision. The case where only two sensors are combined using an AND fusion rule was analyzed by Kovattana (1973), and the cases where two and three sensors
Public reporting burden for this collection of information is estimated to average 1 hour per res... more Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington
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