Passive acoustics represent a low-cost approach to detecting and avoiding other marine vehicles using limited computing and power resources. We present a robust safety behavior for long-term environmental sensing of rivers and estuaries demonstrated on a smartphone-driven, diving robot. The detection method is based on energy detection from the hydrophone output. Field testing demonstrates detection and avoidance of motorized vessels of various sizes with 94.1% accuracy and a 12.1% false positive rate. Dives are triggered with a median approach distance of approximately 700 m, and they are completed within 500 m of the detected vehicle.

Item Type:	Refereed Article
Keywords:	passive acoustics, sensor systems, sensors, safety behaviour, environmental sensing, robot
Research Division:	Information and Computing Sciences
Research Group:	Artificial intelligence
Research Field:	Intelligent robotics
Objective Division:	Expanding Knowledge
Objective Group:	Expanding knowledge
Objective Field:	Expanding knowledge in the environmental sciences
UTAS Author:	D'Este, C (Dr Claire D'Este)
ID Code:	117313
Year Published:	2015
Web of Science® Times Cited:	4
Deposited By:	Information and Communication Technology
Deposited On:	2017-06-07
Last Modified:	2017-09-11
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