Author

A. Pascoal

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Preprint Sep 2026

Acoustic-based Guidance for Automatic Docking of Holonomic AUVs

This paper describes a system to automatically dock an AUV onto a docking station without precise knowledge of the position and orientation of the latter, in the presence of unknown ocean currents, using a fully acoustic sensing architecture. The system relies on a pair of Ultrashort Baseline sensors, one onboard the v...

Ravi Regalo, D. Cabecinhas, A. Pascoal · 0 citations

Preprint Aug 2026

Moving Horizon Estimation for Underwater Target Tracking Based on Time-Difference-of-Arrival Measurements

There has been a flurry of activity in the development of robotic systems to localize and track underwater man-made or natural targets based on sparse acoustic data. Compelling examples include the development of surface tracking systems to aid in the navigation of groups of underwater vehicles performing environmental...

A. Tolstonogov, D. Cabecinhas, P. Batista et al. · 0 citations

Preprint Sep 2026

Distributed ToA Localization of Acoustic Sources with Unknown Time of Emission via Operator Splitting

Localization of non-cooperative acoustic sources using multiple spatially distributed receivers is critical for applications such as marine-life tracking, search-and-rescue operations, and maritime security in underwater environments. In conventional Time of Arrival (ToA) systems, the emission time is typically known e...

A. Tolstonogov, D. Cabecinhas, P. Batista et al. · 0 citations