Search
Now showing items 1-10 of 18
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 ...
Physically constrained maximum likelihood method for snapshot deficient adaptive array processing
(Massachusetts Institute of Technology, 2003)
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 ...
Distributed autonomy and formation control of a drifting swarm of autonomous underwater vehicles
(Massachusetts Institute of Technology, 2015)
Recent advances in autonomous underwater vehicle (AUV) technology have led to their wide- spread acceptance and adoption for use in scientific, commercial, and defence applications in the underwater domain. At the same ...
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 ...
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. ...
Lossy compression and real-time geovisualization for ultra-low bandwidth telemetry from untethered underwater vehicles
(Massachusetts Institute of Technology, 2008)
Oceanographic applications of robotics are as varied as the undersea environment itself. As underwater robotics moves toward the study of dynamic processes with multiple vehicles, there is an increasing need to distill ...
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 ...
Sound propagation around underwater seamounts
(Massachusetts Institute of Technology, 2005)
This thesis develops and utilizes a method for analyzing data from the North Pacific Acoustic Laboratory's (NPAL) Basin Acoustic Seamount Scattering Experiment (BASSEX). BASSEX was designed to provide data to support the ...
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 ...