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In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this…
Autonomous robots can transform how we observe marine ecosystems, but close-range operation in reefs and other cluttered habitats remains difficult. Vehicles must maneuver safely near animals and fragile structures while coping with…
In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…
Autonomous systems will play an essential role in many applications across diverse domains including space, marine, air, field, road, and service robotics. They will assist us in our daily routines and perform dangerous, dirty and dull…
Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this…
With the advancement of maritime unmanned aerial vehicles (UAVs) and deep learning technologies, the application of UAV-based object detection has become increasingly significant in the fields of maritime industry and ocean engineering.…
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of…
Developing new functionality for underwater robots and testing them in the real world is time-consuming and resource-intensive. Simulation environments allow for rapid testing before field deployment. However, existing tools lack certain…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…
Robot accidents are inevitable. Although rare, they have been happening since assembly-line robots were first introduced in the 1960s. But a new generation of social robots are now becoming commonplace. Often with sophisticated embedded…
One of the challenges of Industry 4.0, is to determine and optimize the flow of data, products and materials in manufacturing companies. To realize these challenges, many solutions have been defined such as the utilization of automated…
Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…
Enabling autonomous robots to safely and efficiently navigate, explore, and map underwater caves is of significant importance to water resource management, hydrogeology, archaeology, and marine robotics. In this work, we demonstrate the…
This paper introduces the first publicly accessible labeled multi-modal perception dataset for autonomous maritime navigation, focusing on in-water obstacles within the aquatic environment to enhance situational awareness for Autonomous…
The rapid evolution of machine learning (ML) has brought about groundbreaking developments in numerous industries, not the least of which is in the area of undersea communication. This domain is critical for applications like ocean…
Underwater cameras are widely used to observe the sea floor. They are usually included in autonomous underwater vehicles, unmanned underwater vehicles, and in situ ocean sensor networks. Despite being an important sensor for monitoring…
As large language models (LLMs) continue to advance and gain influence, the development of embodied AI has accelerated, drawing significant attention, particularly in navigation scenarios. Embodied navigation requires an agent to perceive,…
Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…
Sample Exploring the ocean environment holds profound significance in areas such as resource exploration and ecological protection. Underwater robots struggle with extreme water pressure and often cause noise and damage to the underwater…