Recent Publications

2017

  • N. R. Rypkema, E. M. Fischell, H. Schmidt, One-Way Travel-Time Inverted Ultra-Short Baseline Localization for Low-Cost Autonomous Underwater Vehicles. IEEE International Conference on Robotics and Automation (ICRA), 2017 (Accepted)

2016

  • E. M. Fischell and H. Schmidt. "AUV behaviors for collection of bistatic and multistatic acoustic scattering data from seabed targets." 2016 IEEE International Conference on Robotics and Automation (ICRA).
  • N. R. Rypkema, H. Schmidt, Formation Control of a Drifting Group of Marine Robotic Vehicles. Distributed Autonomous Robotic Systems (DARS), 2016.
  • O. A. Viquez, E. M. Fischell, N. R. Rypkema, H. Schmidt, Design of a General Autonomy Payload for Low-Cost AUV R&D. IEEE/OES Autonomous Underwater Vehicles (AUV), 2016

2015

  • A. Anderson, E. Fischell, T. Howe, T. Miller, A. Parrales-Salinas, N. Rypkema, D. Barrett, M. R. Benjamin, A. Brennen, M. DeFillipo, J. J. Leonard, L. Paull, H. Schmidt, N. Wang, A. Yaari, An Overview of MIT-Olin's Approach in the AUVSI RobotX Competition. Field and Service Robotics (FSR) - Results of the 10 International Conference, 61-80, 2015
  • Erin M. Fischell and Henrik Schmidt, "Classification of underwater targets from autonomous underwater vehicle sampled bistatic acoustic scattered fields," J. Acoust. Soc. Am. 138, 3773-3784 (2015).
  • E. Fischell, T. Schneider and H. Schmidt."Design, Implementation and Characterization of Precision Timing for Bistatic Acoustic Data Acquisition," IEEE JOE, ISSN: 0364-9059 (2015).

2011

2010

  • Michael Benjamin, Henrik Schmidt, Paul Newman, John Leonard, "Nested Autonomy for Unmanned Marine Vehicles with MOOS-IvP", Journal of Field Robotics, Volume 27, Issue 6, pp. 834-875, November 2010.
  • Schneider, T. and Schmidt, H. (2010), "Unified command and control for heterogeneous marine sensing networks." Journal of Field Robotics, 27: 876–889
  • Eickstedt, D.P., and Sideleau S.R., "The Backseat Control Architecture for Autonomous Robotic Vehicles: A Case Study with the Iver2 AUV", Mar Tech Soc J, 44(4), pp. 42-54, August 2010.
  • K. L. Cockrell and H. Schmidt, "Robust passive range estimation using the waveguide invariant," J. Acoust. Soc. Am. 127 2780 (2010)
  • K. L. Cockrell and H. Schmidt,"A modal Wentzel-Kramers-Brillouin approach to calculating the waveguide invariant for non-ideal waveguides," J. Acoust. Soc. Am. (in Press)
  • K. L. Cockrell , H. Schmidt “Calculating the waveguide invariant for non-ideal waveguides” (In preparation for submission to JASA)
  • K. L. Cockrell, H. Schmidt "A relationship between the waveguide invariant and wavenumber integration" (Submitted, JASA)
  • Schneider, T., Schmidt, H., Pastore, T. and Benjamin, M.R., "Cooperative autonomy for contact investigation." Proceedings of IEEE Oceans '10 Conference, Sydney, Australia, 24-27 May, 2010
  • Schneider, T. and Schmidt, H. "The Dynamic Compact Control Language: A compact marshalling scheme for acoustic communications." Proceedings of IEEE Oceans '10 Conference, Sydney, Australia, 24-27 May, 2010
  • S. Petillo, A. Balasuriya, H. Schmidt. "Autonomous Adaptive Environmental Assessment and Feature Tracking via Autonomous Underwater Vehicles." Proceedings of IEEE Oceans'10 Conference, Sydney, Australia, 24-27 May, 2010.
  • A. Balasuriya, S. Petillo, H. Schmidt, M. Benjamin. "Behavior-Based Planning and Prosecution Architecture for Autonomous Underwater Vehicles in Ocean Observatories." Proceedings of IEEE Oceans'10 Conference, Sydney, Australia, 24-27 May, 2010.
  • D. R. Thompson, S. Chien, Y. Chao, P. Li, B. Cahill, J. Levin, O. Schofield, A. Balasuriya, S. Petillo, M. Arrott, M. Meisinger. "Spatiotemporal Path Planning in Strong, Dynamic, Uncertain Currents." ICRA 2010, 3-8 May, 2010.

2009

  • D. R. Thompson, S. Chien, M. Arrott, A. Balasuriya, Y. Chao, P. Li, M. Meisinger, S. Petillo, O. Schofield. "Mission Planning in a Dynamic Ocean Sensorweb." ICAPS SPARK 2009, 19-23 September, 2009.
  • D. R. Thompson, S. Chien, M. Arrott, A. Balasuriya, Y. Chao, P. Li, M. Meisinger, S. Petillo, O. Schofield. "A Mission Planning System for Underwater Gliders." ICAPS Applications Showcase 2009, 19-23 September, 2009.
  • Eickstedt, D.P., and Sideleau S.R., "The Backseat Control Architecture for Autonomous Robotic Vehicles: A Case Study with the Iver2 AUV", in Proc. IEEE/MTS Oceans'09 Conference, Biloxi, MS, October 26-29, 2009.
  • R. Lum, A. Balasuriya, H. Schmidt. "Multistatic Processing and Tracking of Underwater Target using Autonomous Underwater Vehicles." Proceedings of 3rd International Conference on Underwater Acoustic Measurements: Technologies and Results, Nafplion, Greece, Jun 2009.
  • Wang, D., Lermusiaux, P. F. J. *, Haley, P. J., Eickstedt, D., Leslie, W. G., Schmidt, H., “Acoustically Focused Adaptive Sampling and On-board Routing for Marine Rapid Environmental Assessment“, Journal of Marine Systems, 78(S1), S393-S407.
  • W. Luo and H. Schmidt, “Three-Dimensional Propagation and Scattering around a Conical Seamount,” J. Acoust. Soc. of Am., 125(1), 52-65, 2009
  • H. Schmidt, D.P. Eickstedt, A.P. Balasuriya, D. Battle, M.R. Benjamin, Nested Autonomy – A Concept of Operations for Distributed, Undersea Acoustic Surveillance, JUA(USN), 59(4), 731-754 (2009)
  • Poulsen, A., Eickstedt, D.P., "Stabilized Target Bearing Estimation and Tracking for Autonomous Underwater Vehicles with Towed Hydrophone Arrays", JUA(USN), 59(4), 559-573 (2009).

2008

  • Curcio, J., Schneider, T., Benjamin, M., and Patrikalakis, A. "Autonomous surface craft provide flexibility to remote adaptive oceanographic sampling and modeling". Proceedings of IEEE Oceans'08 Conference, Quebec, Canada, September 2008.
  • A. Balasuriya, H. Schmidt, M.B. Benjamin, “Integrated sensing, modeling, and control in undersea sensor networks (A)”, J. Acoust. Soc. Am. 123 3007 (2008)
  • H. Schmidt, K.D. Lepage, “Propagation, scattering and reverberation in an ice-covered Arctic ocean (A)”, J. Acoust. Soc. Am. 123 2989 (2008)
  • K. Cockrell, H. Schmidt, “Source localization and tracking in a waveguide via sequential bayesian estimation (A)” J. Acoust. Soc. Am. 123 3339 (2008)

2007

  • Eickstedt, D.P., Benjamin, M.R., Wang, D., Schmidt, H., "Behavior Based Adaptive Control for Autonomous Oceanographic Sampling", in Proc. 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, pp. 4245-4250, April 2007.
  • Benjamin, M.R., Battle, D., Eickstedt, D.P.,Schmidt, H., Balasuriya, A., "Autonomous Control of an Autonomous Underwater Vehicle Towing a Vector Sensor Array", in Proc. 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, pp. 4562-4569, April 2007.

2006

  • Lucifredi, I., Schmidt, H., "Subcritical scattering from buried elastic shells", J. Acoust. Soc. Am. 120 (6), pp. 3566-3583, December 2006.
  • D. Wang, P. F. J. Lermusiaux, Patrick J. Haley, Wayne G. Leslie and Henrik Schmidt, "Adaptive Acoustical-Environmental Assessment for the Focused Acoustic Field-05 At-sea Exercise", In Press, Proceedings of IEEE/MTS Oceans'06 Conference, Boston,MA, September 18-21, 2006.
  • Namik Kemal Yilmaz, Constantinos Evangelinos, Nicholas M. Patrikalakis, Pierre F. J. Lermusiaux, Patrick J. Haley, Wayne G. Leslie, Allan R. Robinson, Ding Wang and Henrik Schmidt, "Path Planning Methods for Adaptive Sampling of Environmental and Acoustical Ocean Fields", In Press, Proceedings of IEEE/MTS Oceans'06 Conference, Boston, MA, September 18-21, 2006.
  • Eickstedt, D.P., Benjamin M.R., "Cooperative Target Tracking in a Distributed Autonomous Sensor Network", pp. 1-6, Proceedings of IEEE/MTS Oceans'06 Conference, Boston, MA, September 18-21, 2006.
  • Poulsen, A.J., Eickstedt, D.P., "Bearing Stabilization and Tracking for an AUV with an Acoustic Line Array", pp. 1-6, Proceedings of IEEE/MTS Oceans'06 Conference, Boston, MA, September 18-21, 2006.
  • Eickstedt, D.P., Benjamin, M.R., Schmidt, H., Leonard, J.J., "Adaptive Control in Heterogeneous Marine Sensor Platforms in an Autonomous Sensor Network", pp. 5514-5521, Proceedings of the 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Beijing, China, October 2006.
  • Eickstedt, D.P., Benjamin, M.R., Schmidt, H., Leonard, J.J., "Adaptive Tracking of Underwater Targets with Autonomous Sensor Networks", JUA(USN) 56, 465-495 (2006).
  • E. Olson, J. J. Leonard and S. Teller. Robust Range-Only Beacon Localization. Accepted for publication in IEEE Journal of Oceanic Engineering, 2006.
  • Xu, W., Schmidt, H. “System-orthogonal functions for sound velocity profile perturbation”, IEEE Journal of Oceanic Engineering, Vol.31, No.1, pp.156-169, January 2006.
  • A. Bahr and J. Leonard. Cooperative Localization for Autonomous Underwater Vehicles. To appear in Proceedings of Experimental Robotics X, Rio de Janeiro, Brazil, July, 2006.
  • E. Olson, J. Leonard, S. Teller. Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2262-2269, May, 2006.
  • M. Montanari, J.R. Edwards, and H. Schmidt. “Autonomous Underwater Vehicle-based Concurrent Detection and Classification Concept Using Higher-order Spectral Analysis,” IEEE Journal of Oceanic Engineering, Vol.31, No.1, pp.188-199, January 2006.

2005

  • M. Walter, R. Eustice, J. Leonard. A Provably Consistent Method for Imposing Sparsity in Feature-based SLAM Information Filters. In Proceedings of the Twelfth International Symposium on Robotics Research, San Fransisco, CA, October, 2005.
  • H. Schmidt, “Integrated, Autonomous Sonar Concept for Concurrent Detection, Classification and Localization in Littoral MCM,” In Boundary Influences in High Frequency, Shallow Water Acoustics, University of Bath Press, Bath, UK, 2005.
  • J. Curcio, J. Leonard, J. Vaganay, A. Patrikalakis, A. Bahr, D. Battle, H. Schmidt, M. Grund, “Experiments in Moving Baseline Navigation using Autonomous Surface Craft” in Proceedings of Oceans-2005, MTS/IEEE
  • J.R. Edwards, “Acoustic classification of buried objects with mobile sonar platforms,” PhD Thesis, Massachusetts Institute of Technology, Sep. 2005.
  • D. Wang, H. Schmidt, Adaptive Rapid Environmental Assessment and Simulation Framework, 149th Meeting Acoustical Society of America, Vancouver, Canada, May 2005.
  • W. Luo, “A three-dimensional coupled mode solution for range-dependent waveguides,” MS Thesis, Massachusetts Institute of Technology, Feb. 2005.
  • E. Olson, M. Walter, S. Teller, and J. Leonard. “Single-Cluster Spectral Graph Partitioning for Robotics Applications.” To Appear In Proceedings of Robotics: Science and Systems, Cambridge, MA, June, 2005.
  • R. Eustice, M. Walter, and J. Leonard. “Sparse Extended Information Filters: Insights Into Sparsification.” To appear in Proceedings of the International Conference on Robots and Systems, Edmonton, CA, 2005.
  • M. Walter, R. Eustice, J. Leonard. “A Provably Consistent Method for Imposing Sparsity in Feature-based SLAM Information Filters.” To appear in Proceedings of the Twelth International Symposium on Robotics Research, San Fransisco, CA, 2005.
  • J. Curcio, J. Leonard, and A. Patrikalakis. "SCOUT --- A Low Cost Autonomous Surface Platform for Research in Cooperative Autonomy'', In Proceedings of IEEE Oceans, September, 2005.

2004

  • H. Schmidt, “Virtual source approach to scattering from partially buried elastic targets”, In High Frequency Acoustics, M.B. Porter, M. Siderius, W.A. Kuperman, Eds., American Institute of Physics, 2004.
  • D. Wang, H. Schmidt, Adaptive Sampling in Ocean Environment for Sonar Performance Prediction, Dynamic positioning & Marine Technology Society Symposium, Sep 2004.
  • H. Schmidt, “Virtual source approach to scattering from partially buried elastic targets”, In High Frequency Acoustics, M.B. Porter, M. Siderius, W.A. Kuperman, Eds., American Institute of Physics, 2004.
  • D. Battle, P. Gerstoft, W. S. Hodgkiss, W. A. Kuperman and P. Nielsen, “Bayesian model selection applied to self-noise geoacoustic inversion,” Journal of the Acoustical Society of America, 116(4), pp 2043-2056, 2004.
  • M. C. Bosse, P. M. Newman, J. J. Leonard, and S. Teller. “An Atlas Framework for Scalable Mapping.” International Journal of Robotics Research, 23(12), December, 2004.
  • D. Moore, J. Leonard, D. Rus, S. Teller. “Robust distributed network localization with noisy range measurements.” In Proceedings of the Second ACM Conference on Embedded Networked Sensor Systems (SenSys'04). Baltimore, MD. November 3-5, 2004.
  • E. Olson, J. J. Leonard and S. Teller, "Robust Range-only Beacon Localization'', In Proceedings of IEEE Conf. on Autonomous Underwater Vehicles, Maine, 2004.
  • J. Vaganay, J. J. Leonard, J. A. Curcio, and J. S. Willcox, "Experimental Validation of the Moving Long Base-Line Navigation Concept'', In Proceedings of IEEE Conference on Autonomous Underwater Vehicles, Maine, 2004.
  • M. Dragone, R. O'Donoghue, J. J. Leonard, G. O'Hare, B. Duffy, A. Patrikalakis, and J. Leederkerken. ``Robot Soccer Anywhere: Achieving Persistent Autonomous Navigation, Mapping and Object Vision Tracking in Dynamic Environments'', In Proceedings of SPIE OptoIreland, Dublin, Ireland, April, 2004.
  • D. Wang, “Adaptive Rapid Environmental Assessment System Simulation Framework”, MS Thesis, Massachusetts Institute of Technology, Dec. 2004.

2002

  • D. Wang, H. Schmidt, Investigation of the relative significance of individual environmental parameters to sonar performance prediction uncertainty, Acoustic Society of America Conference, Dec 2002.
  • Tesei, A., Maguer, A., Fox, W.L.J., Lim, R., Schmidt, H. Variability of the acoustic response from spherical shells buried in the seabed by model-based analysis of the at-sea data. In: Pace, N.G., Jensen, F.B., editors. Impact of Littoral Environmental Variability on Acoustic Predictions and Sonar Performance, Kluwer Academic Publishers, pp.497-504. 2002.
  • Baggeroer, A.B., Schmidt, H. Performance bounds on the detection and localization in a stochastic ocean. In: Pace, N.G., Jensen, F.B., editors. Impact of Littoral Environmental Variability on Acoustic Predictions and Sonar Performance, Kluwer Academic Publishers, pp.507-514. 2002.
  • Schmidt, H. AREA: Adaptive Rapid Environment Assessment (Invited paper). In: Pace, N.G., Jensen, F.B., editors. Impact of Littoral Environmental Variability on Acoustic Predictions and Sonar Performance, Kluwer Academic Publishers, pp.587-594. 2002.
  • Xu, W., Baggeroer, A.B., Schmidt, H. “Quantitative ambiguity analysis for match-field source localization”. Proceedings of Asilomar Conference on Signals, Systems, and Computers, pp448-452, 2002.