The purpose of this master thesis, performed at FOI, was to evaluate a range gated underwater camera, for the application identification of bottom objects. The master thesis was supported by FMV within the framework of arbetsorder Systemstöd minjakt.
This report addresses the problem of software correction of spatially variant blur in digital images. The problem arises when the camera optics contains flaws, when the scene contains multiple moving objects with different relative motion or the camera itself is i.e. rotated.
This dissertation focuses on the collaborative control of homogeneous UAV swarms. A two-level scheme is proposed by combining the high-level path planning and the lowlevel vehicle motion control. A decentralized artificial potential function (APF) based approach, which mimics the bacteria foraging process,