Tracking benthic boundaries using a profiler sonar: a mixture model approach

The paper presents signal processing and control algorithms that enable autonomous tracking of boundaries between distinct benthic regions by an AUV equipped of a profiler sonar. A novel sonar classification algorithm is presented, which uses the signature of the ocean floor in the incoming profiles to discriminate between distinct sea-bottom materials. By exploiting sonar scans of the region below the robot, a classical control loop is closed around the sonar data, using a feedback signal that is robust with respect to classification "noise".