This paper considers the effect of sensor ordering on the iterated-corrector PHD update. It is
known that changing the order of the updates results in different PHDs, however, these are …

This paper proposes the use of the Hellinger distance in evaluating the localisation error in
the OSPA metric. The Hellinger distance provides a measure of the difference between two …

Underwater chain cleaning and inspection tasks are costly and time consuming operations
that must be performed periodically to guarantee the safety of the moorings. We propose a …

Two-dimensional forward-looking sonars such as Blueview or DIDSON are becoming a
standard sensor in both remotely-operated and autonomous underwater vehicles. Registration …

We present a novel survey path planning technique which minimizes the robot's position
uncertainty along the planned path while taking into account area coverage performance. The …

To circumvent the intractability of the usual Cardinalized Probability Hypothesis Density (CPHD)
smoother, we present an approximate scheme where the population of targets born until …

This paper presents a modular localization and mapping system for intervention autonomous
underwater vehicles working in semi-structured environments with known landmarks. The …

Forward-looking sonar can be used for underwater mapping when water visibility is poor.
The generation of an acoustic mosaic of the environment is of high interest when underwater …

The random finite-set formulation for multiobject estimation provides a means of estimating
the number of objects in cluttered environments with missed detections within a unified …

AUVs have experimentally done the first steps to solve basic intervention tasks. First results
have been promising in the task of retrieving an object from the seabed. In this paper we …