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Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments
(Massachusetts Institute of Technology, 2012)
This thesis presents a system for automatically building 3-D optical and bathymetric maps of underwater terrain using autonomous robots. The maps that are built improve the state of the art in resolution by an order of ...
Toward lifelong visual localization and mapping
(Massachusetts Institute of Technology, 2013)
Mobile robotic systems operating over long durations require algorithms that are robust and scale efficiently over time as sensor information is continually collected. For mobile robots one of the fundamental problems is ...
Multi-modal and inertial sensor solutions for navigation-type factor graphs
(Massachusetts Institute of Technology, 2017)
This thesis presents a sum-product inference algorithm for in-situ, nonparametric platform navigation called Multi-modal iSAM (incremental smoothing and mapping), for problems of thousands of variables. Our method tracks ...
The development and application of random matrix theory in adaptive signal processing in the sample deficient regime
(Massachusetts Institute of Technology, 2014)
This thesis studies the problems associated with adaptive signal processing in the sample deficient regime using random matrix theory. The scenarios in which the sample deficient regime arises include, among others, the ...
Graphical model driven methods in adaptive system identification
(Massachusetts Institute of Technology, 2016)
Identifying and tracking an unknown linear system from observations of its inputs and outputs is a problem at the heart of many different applications. Due to the complexity and rapid variability of modern systems, there ...
Applied stochastic Eigen-analysis
(Massachusetts Institute of Technology, 2006)
The first part of the dissertation investigates the application of the theory of large random matrices to high-dimensional inference problems when the samples are drawn from a multivariate normal distribution. A longstanding ...
Spatial modulation in the underwater acoustic communication channel
(Massachusetts Institute of Technology, 2000)
A modulation technique for increasing the reliable data rate achievable by an underwater acoustic communication system is presented and demonstrated. The technique, termed spatial modulation, seeks to control the spatial ...
Underwater & out of sight : towards ubiquity in underwater robotics
(Massachusetts Institute of Technology, 2019)
The Earth's oceans holds a wealth of information currently hidden from us. Eective measurement of its properties could provide a better understanding of our changing climate and insights into the creatures that inhabit its ...
Progressively communicating rich telemetry from autonomous underwater vehicles via relays
(Massachusetts Institute of Technology, 2012)
As analysis of imagery and environmental data plays a greater role in mission construction and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to ...
Sound propagation around underwater seamounts
(Massachusetts Institute of Technology, 2009)
In the ocean, low frequency acoustic waves propagate with low attenuation and cylindrical spreading loss over long-ranges, making them an effective tool for underwater source localization, tomography, and communications. ...