Related papers: Multi-Modal Local Sensing and Communication for Co…
In this work we consider development of IR-based communication and perception mechanisms for real microrobotic systems. It is demonstrated that a specific combination of hardware and software elements provides capabilities for navigation,…
The exploration and sustainable use of marine environments have become increasingly critical as oceans cover over 70% of surface of Earth. This paper provides a comprehensive survey and classification of state-of-the-art underwater vehicles…
With the upcoming trends in autonomous driving and urban air mobility, the number of self-navigating vehicles will increase, since they are foreseen for deliveries as well as autonomous taxis among other applications. To this end, a…
In this paper, we present a number of robust methodologies for an underwater robot to visually detect, follow, and interact with a diver for collaborative task execution. We design and develop two autonomous diver-following algorithms, the…
This work explores the application of nonlinear oscillators coupled by electric field in water for collective tasks in underwater robotics. Such coupled oscillators operate in clear and colloidal (mud, bottom silt) water and represent a…
Underwater vehicles have emerged as a critical technology for exploring and monitoring aquatic environments. The deployment of multi-vehicle systems has gained substantial interest due to their capability to perform collaborative tasks with…
Underwater vehicles are utilized in various applications including underwater data-collection missions. The tethered connection constrains the mission both in distance traveled and number of vehicles that can run in the same area, while the…
This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
The underwater Unmanned Vehicles(UUVs) are pivot tools for offshore engineering and oceanographic research. Most existing UUVs do not facilitate easy integration of new or upgraded sensors. A solution to this problem is to have a modular…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit…
Artificial Water Bodies (AWBs) are human-made and require continuous monitoring due to their artificial biological processes. These systems necessitate regular maintenance to manage their ecosystems effectively. Unmanned Surface Vehicle…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
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…
The increasing complexity of marine operations has intensified the need for intelligent robotic systems to support ocean observation, exploration, and resource management. Underwater swarm robotics offers a promising framework that extends…
This paper investigates underwater cooperative target detection using autonomous underwater vehicles (AUVs), with a focus on the critical trade-off between cooperation efficiency and communication covertness. To tackle this challenge, we…
With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a comprehensive review of multi-robot cooperative exploration…
This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…
This study presents a simulation model for underwater 6G networks, focusing on the optimized placement of sensors, AUVs, and hubs. The network architecture consists of fixed hub stations, mobile autonomous underwater vehicles (AUVs), and…