Related papers: Design, Development and Testing of Underwater Vehi…
Autonomous navigation in the underwater environment is challenging due to limited visibility, dynamic changes, and the lack of a cost-efficient accurate localization system. We introduce UIVNav, a novel end-to-end underwater navigation…
This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability…
Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…
Teams of cooperating autonomous underwater vehicles (AUVs) rely on acoustic communication for coordination, yet this communication medium is constrained by limited range, multi-path effects, and low bandwidth. One way to address the…
Robotic navigation concerns the task in which a robot should be able to find a safe and feasible path and traverse between two points in a complex environment. We approach the problem of robotic navigation using reinforcement learning and…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…
Unmanned surface vehicles (USVs) have great value with their ability to execute hazardous and time-consuming missions over water surfaces. Recently, USVs for inland waterways have attracted increasing attention for their potential…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
The increasing complexity of underwater robotic systems has led to a surge in simulation platforms designed to support perception, planning, and control tasks in marine environments. However, selecting the most appropriate underwater…
The use of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs) has seen significant growth in the research community, industry, and society. Many of these agents are equipped with communication systems that are essential for…
Autonomous Underwater Vehicles (AUVs) are increasingly being used to support scientific research and monitoring studies. One such application is in benthic habitat mapping where these vehicles collect seafloor imagery that complements…
Maritime activities represent a major domain of economic growth with several emerging maritime Internet of Things use cases, such as smart ports, autonomous navigation, and ocean monitoring systems. The major enabler for this exciting…
The powerful representation capacity of deep learning has made it inevitable for the underwater image enhancement community to employ its potential. The exploration of deep underwater image enhancement networks is increasing over time, and…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
Autonomous Underwater Vehicles (AUVs) encounter significant energy, control and navigation challenges in complex underwater environments, particularly during close-proximity operations, such as launch and recovery (LAR), where fluid…
The field of autonomous driving has grown tremendously over the past few years, along with the rapid progress in sensor technology. One of the major purposes of using sensors is to provide environment perception for vehicle understanding,…
Addressing the issue of submerged underwater trash is crucial for safeguarding aquatic ecosystems and preserving marine life. While identifying debris present on the surface of water bodies is straightforward, assessing the underwater…
Special-purpose Autonomous Underwater Vehicles (AUVs) are utilised for benthic (seafloor) surveys, where the vehicle collects optical imagery of the seafloor. Due to the small-sensor footprint of the cameras and the vast areas to be…