(:notitlegroup:) 

   @inproceedings{ferri2016,
    title     = {A Data-Driven Control Strategy in Synergy With Continuous Active Sonar for
                Littoral Underwater Surveillance},
    booktitle = {OCEANS 2016 MTS/IEEE Monterey},
    author    = {Gabriele Ferri and Andrea Munafò and Joao Alves and Kevin LePage},
    pages     = {1-7},
    month     = {September},
    year      = {2016},
    keywords  = {autonomous underwater vehicles;mobile robots;sonar;telerobotics;video
                surveillance;CAS;CAS signal processing;MML;continuous active sonar;data driven
                control strategy;data driven mission management layer;littoral surveillance
                mission;littoral underwater surveillance;nonmyopic control algorithm;on-board
                AUV;prediction time window;target position estimation error;Signal
                processing;Signal processing algorithms;Sonar;Surveillance;Target
                tracking;Transducers;Vehicles},
    abstract  = {In this work, we describe a data-driven Mission Management Layer (MML) running
                on-board AUVs which manages the phases of a littoral surveillance mission and
                exploits the characteristics of Continuous Active Sonar (CAS) signal
                processing. The MML selects for further investigation the tracks which are
                likely originated by a target. In this case, the MML launches a receding
                horizon, non-myopic control algorithm which controls the AUV's heading to
                improve the tracking performance to ease the target classification. The
                algorithm minimises the expected target position estimation error over a
                prediction time window by achieving a trade-off amongst different objectives:
                keeping the target at broadside, reducing the distance to the target, avoiding
                areas of high reverberation and searching for geometric configurations with
                low bistatic target localisation error. We report at-sea experiments obtained
                during the LCAS15 sea trial, which demonstrated, for the first time, that the
                proposed autonomy architecture can be executed together with real-time
                Continuous Active Sonar (CAS) processing on-board the AUVs. CAS has recently
                gained interest for littoral Anti-Submarine Warfare, since it offers the
                promise of multiple detections per waveform cycle. This can potentially
                improve the quality/length of tracks, thus increasing the adaptive behaviour's
                performance, which, in turn, can increase the detection and tracking
                capabilities of the processing chain.}}