{"id":"W4416727330","doi":"10.23919/oceans59106.2025.11245124","title":"Forward Looking Sonar Integrated Obstacle Avoidance System for a Towed Synthetic Aperture Sonar","year":2025,"lang":"","type":"article","venue":"","topic":"Robotics and Sensor-Based Localization","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"Pleiades Robotics (Canada)","funders":"","keywords":"Sonar; Seabed; Obstacle avoidance; Obstacle; Standard deviation; Synthetic aperture sonar; Kalman filter; Extended Kalman filter; Remotely operated underwater vehicle","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":["metaepi_narrow"],"consensus_categories":[],"category_scores_codex":[0.0003443702,0.0006530315,0.0008054084,0.0003439077,0.0004088221,0.0003111456,0.000384301,0.0005555965,0.0001127055],"category_scores_gemma":[0.0002110488,0.0006395126,0.0003665906,0.0009265975,0.00006777856,0.000191569,0.00006261518,0.0004040663,0.00005883219],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0007877358,"about_ca_system_score_gemma":0.000206719,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001189219,"about_ca_topic_score_gemma":0.00008389126,"domain_scores_codex":[0.9969516,0.00009686801,0.0009943059,0.0007581094,0.0003085986,0.0008904687],"domain_scores_gemma":[0.9979842,0.0007142904,0.000132303,0.0005880667,0.00039533,0.0001858181],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0002354039,0.000168013,0.0001651308,0.007265161,0.0007153513,0.00003668093,0.0007390985,0.8099781,0.01218461,0.09372477,0.005168359,0.06961936],"study_design_scores_gemma":[0.001193061,0.00009665579,0.0000283355,0.002780069,0.0002438238,0.00001177821,0.001840482,0.9225002,0.008707023,0.0002001982,0.06178083,0.0006175595],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.003370231,0.003571342,0.9830487,0.0008964616,0.001531235,0.001567057,0.0001203112,0.0006564749,0.005238134],"genre_scores_gemma":[0.9742232,0.0002866042,0.01959911,0.0003741527,0.0001353767,0.0001396847,0.0001060736,0.0001428635,0.004992921],"genre_candidate":"methods","genre_consensus":null,"teacher_disagreement_score":0.970853,"threshold_uncertainty_score":0.9996056,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.006950584535184702,"score_gpt":0.2130370971130757,"score_spread":0.206086512577891,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}