@inproceedings{fischell2016,
title = {AUV Behaviors for Collection of Bistatic and Multistatic Acoustic Scattering
Data from Seabed Targets},
booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
author = {Erin M. Fischell and Henrik Schmidt},
pages = {2645-2650},
month = {May},
year = {2016},
keywords = {acoustic wave scattering;autonomous underwater vehicles;image sensors;mobile
robots;multi-robot systems;AUV behavior;acoustic source;aspect
angle;autonomous underwater vehicle;bistatic acoustic scattering;bistatic
angle;harbor security;hydrophone nose array;imaging sensor;mobile autonomous
vehicle;multiple AUV;multistatic acoustic scattering;radiation pattern;seabed
target;source frequency;target classification;target localization;vehicle
dynamics constraint;Acoustic
arrays;Acoustics;Arrays;Nose;Receivers;Scattering;Vehicles},
abstract = {Characterization of seabed targets using networks of Autonomous Underwater
Vehicles (AUVs) is of great interest for harbor security. The imaging sensors
generally used for target localization and classification are expensive for
outfitting multiple AUVs and produce data that is difficult to use for
real-time onboard classification. An approach to this problem has been
developed in which an acoustic source insonifies targets and AUVs with
inexpensive hydrophone nose arrays are used to sample the resulting scattered
fields. These scattered fields consist of distinctive radiation patterns,
where the amplitude sampled by a receiving AUV for a particular target is
determined by source frequency, aspect angle between source and target, and
bistatic angle between source and receiver. AUV behaviors were developed to
control the bistatic angles relative to a localized target between source and
receiver vehicles and aspect angle between a target and the source. Two
configurations were explored: bistatic, where the source is fixed and receiver
moving, and multistatic, where both source and receiver are located on mobile
autonomous vehicles. Design considerations for behaviors to sample different
combinations of bistatic angle and aspect angle included keeping receiving
arrays broadside to a target for uniform-quality data collection and obeying
vehicle dynamics constraints. Behaviors for the bistatic configuration were
demonstrated in AUV experiments, and behaviors for the multistatic case were
demonstrated in simulation, including collaboration between source and
receiver vehicles for controlling bistatic versus aspect angle.}}