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Acoustic Localization for Autonomous Unmanned Systems

This paper presents a novel approach to locate stranded victims in flooded scenarios using an autonomous unmanned surface vehicle (USV) by detecting the distress sounds using the Time Difference of Arrival principle with the help of a microphone array to detect victims. This paper also presents a noise reduction algorithm that reduces the number of false-positive detections thus increasing the accuracy of detection. A path planning algorithm that produces a time and energy-efficient path for the USV to follow, enabling shorter mission time, increasing operation range, and achieving operational excellence is also discussed.