This thesis deals with mission planning for multi-robot seabed monitoring task with Autonomous Underwater Vehicles (AUV). The overall goal of this work is to design a mission planner that ensures visiting all places in a given area and keeps the AUVs in operational state by charging from the seabed station. Key part of designed mission planner is also the motion planning. We propose two differe...

Sound backscattered to a sonar from a seabed decreases in intensity with increasing range (R) due to geometrical spreading. As a far-range approximation, a geometrical spreading correction of +30 log R decibels may be applied. A correction based on an accurate estimation of the area of the seabed ensonified by the sonar pulse incorporates additional terms that are a function of: range, sonic ra...

We describe two new species amongst the most common sponges living on the seabed (inter-reef) of the Great Barrier Reef (GBR) collected during a multi-agency survey (GBR Seabed Biodiversity Project 2003–2006) of the shelf benthic biota using a trawl and dredge at 1254 sites. More than 1,200 sponge morphospecies (operational taxonomic units or OTUs) were recognised, many of which are potentially...

this paper considers the search problem, introduced by srivastava cite{sr}. this is a model discrimination problem. in the context of search linear models, discrimination ability of search designs has been studied by several researchers. some criteria have been developed to measure this capability, however, they are restricted in a sense of being able to work for searching only one possible non...

The MAPEX2000 experiments were conducted in the Mediterranean Sea in March, 2000 to determine seabed properties using a towed acoustic source and receiver array. Towed systems are advantageous because they are easy to deploy from a ship and the moving platform offers the possibility for estimating spatially variable (range-dependent) seabed properties. In this paper, seabed parameters are deter...

Solid Marine Wastes present on the seabed and floating on the sea surface were investigated in the Aegean Sea. Compared to other locations in the Mediterranean, litter concentration on Northern to Mid Aegean Seabed is moderate even in populated gulfs, whereas floating marine debris concentrations are low and dominated by recreational items, probably restricted to summer season.

Bottom trawling and seabed littering are two serious threats to seabed integrity. We present an overview of the distribution of seabed litter and bottom trawling in Norwegian waters (the Norwegian Sea and the southern Barents Sea). Vessel Monitoring System (VMS) records and trawl marks (TM) on the seabed were used as indicators of pressure and impact of bottom trawling, respectively. Estimates ...

Self-noise geoacoustic inversion involves the estimation of bottom parameters such as sound speeds and densities by analyzing towed-array signals whose origin is the tow platform itself. As well as forming inputs to more detailed assessments of seabed geology, these parameters enable performance predictions for sonar systems operating in shallow-water environments. In this paper, Gibbs sampling...

The approach includes both theoretical and measurement components. One measurement approach exploits the very high geoacoustic information content in direct path measurements of seabed reflection and scattering. Another measurement approach, based on long-range reverberation, has much less information content but is nonetheless a powerful way to explore scales inherent in the seabed. Both kinds...