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The biorobotic emulation of swimming and flying animals carrying out short-distance echolocation while maneuvering is considered. A simple and lightweight sonar for use on a small, maneuverable underwater vehicle for short-distance echolocation is explored. This sonar has four sensors and uses broadband, high-frequency signals to echolocate. The frequency-time characteristics of these signals are compared to those of bats and dolphins. The biosonar is paired with a biologically inspired, maneuverable, underwater vehicle, the combined use of sensors and maneuverability being analogous to animal behavior. Homing experiments have been carried out in an acoustic test facility where identification and localization of multiple targets is based on fusion of acoustic returns from multiple pings.


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