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Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an…
Since the application of Deep Q-Learning to the continuous action domain in Atari-like games, Deep Reinforcement Learning (Deep-RL) techniques for motion control have been qualitatively enhanced. Nowadays, modern Deep-RL can be successfully…
Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…
This paper presents a solution for the autonomous exploration and inspection of Ballast Water Tanks (BWTs) of marine vessels using aerial robots. Ballast tank compartments are critical for a vessel's safety and correspond to confined…
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable.…
Repair and maintenance of underwater structures as well as marine science rely heavily on the results of underwater object detection, which is a crucial part of the image processing workflow. Although many computer vision-based approaches…
Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…
AI technologies, including deep learning, large-language models have gone from one breakthrough to the other. As a result, we are witnessing growing excitement in robotics at the prospect of leveraging the potential of AI to tackle some of…
Autonomous underwater vehicles (AUVs) are essential for various applications, including oceanographic surveys, underwater mapping, and infrastructure inspections. Accurate and robust navigation are critical to completing these tasks. To…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
The speed of response by search and rescue teams at sea is of vital importance, as survival may depend on it. Recent technological advancements have led to the development of more efficient systems for locating individuals involved in a…
Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
With the advancements in underwater wireless communications, internet of underwater things (IoUT) realization is inevitable to enable many practical applications, such as exploring ocean resources, ocean monitoring, underwater navigation,…
Advances in hardware technology have facilitated more integration of sophisticated software toward augmenting the development of Unmanned Vehicles (UVs) and mitigating constraints for onboard intelligence. As a result, UVs can operate in…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…
Amphibious robots, operating seamlessly across land and water, are advancing applications in conservation, disaster response, and defense. Their performance depends on locomotion mechanisms, actuation technologies, and sensor-control…
The purpose of this paper is to develop an unmanned aerial vehicle (UAV) using a quadcopter with the capability of video surveillance, map coordinates, a deployable parachute with a medicine kit or a food pack as a payload, a collision…
This paper addresses the trajectory planning for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs' trajectory tracking ability and cause obstacle and inter-vehicle collisions. A novel approach based…