Related papers: Adaptive Path Planning for Depth Constrained Bathy…
Bathymetry, the study of underwater topography, relies on sonar mapping of submerged structures. These measurements, critical for infrastructure health monitoring, often require expensive instrumentation. The high financial risk associated…
Informative path planning (IPP) applied to bathymetric mapping allows AUVs to focus on feature-rich areas to quickly reduce uncertainty and increase mapping efficiency. Existing methods based on Bayesian optimization (BO) over Gaussian…
This paper presents a novel image-based path planning algorithm that was developed using computer vision techniques, as well as its comparative analysis with well-known deterministic and probabilistic algorithms, namely A* and Probabilistic…
Parallel self-assembly is an efficient approach to accelerate the assembly process for modular robots. However, these approaches cannot accommodate complicated environments with obstacles, which restricts their applications. This paper…
Depth imaging has largely focused on sensor and intrinsics properties. However, the accuracy of acquire pixel is largely dependent on the capture. We propose a new depth estimation and approximation algorithm which takes an arbitrary 3D…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
The shortage of workforce and increasing cost of maintenance has forced many farm industrialists to shift towards automated and mechanized approaches. The key component for autonomous systems is the path planning techniques used. Coverage…
Downsampling and path planning are essential in robotics and autonomous systems, as they enhance computational efficiency and enable effective navigation in complex environments. However, current downsampling methods often fail to preserve…
Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…
A practical method for identifying the propeller model and inertia matrix of a marine Autonomous Surface Vehicle (ASV) is proposed in this work. Special attention is paid to limiting the instrumentation requirements. Based on a generic…
Autonomous coverage has tremendous importance for environmental surveying and exploration tasks performed on rivers both in terms of efficiency and data collection quality. Most surveys of rivers are performed manually using quite similar…
Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…
Unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue (SAR) operations to enhance efficiency by enabling rescue teams to cover large search areas in a shorter time. Reducing coverage time directly increases the…
Maritime Autonomous Surface Ships (MASS) are increasingly regarded as a promising solution to address crew shortages, improve navigational safety, and improve operational efficiency in the maritime industry. Nevertheless, the reliable…
This paper studies an optimal autonomous underwater vehicule (AUV) path planning method for both reducing average delay before pollutants detection in underwater mining, oil or gas fields and reducing AUV occupancy time. The proposed…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
An algorithm and a program for detecting the boundaries of water bodies for the autopilot module of asurface robot are proposed. A method for detecting water objects on satellite maps by the method of finding a color in the HSV color space,…
Perception of the environment is a critical component for enabling autonomous driving. It provides the vehicle with the ability to comprehend its surroundings and make informed decisions. Depth prediction plays a pivotal role in this…
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…