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Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…
This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface…
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…
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…
Today AUVs operation still remains restricted to very particular tasks with low real autonomy due to battery restrictions. Efficient motion planning and mission scheduling are principle requirement toward advance autonomy and facilitate the…
Automatic underwater vehicle hull Design optimization is a complex engineering process for generating a UUV hull with optimized properties on a given requirement. First, it involves the integration of involved computationally complex…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Promoting the levels of autonomy facilitates the vehicle in performing long-range operations with minimum supervision. The capability of Autonomous Underwater Vehicles (AUVs) to fulfill the mission objectives is directly influenced by route…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
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…
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…
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…
Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…
In post-disaster scenarios, rapid and efficient delivery of medical resources is critical and challenging due to severe damage to infrastructure. To provide an optimized solution, we propose a cooperative trajectory optimization and task…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
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…
As UAV popularity soars, so does the mission planning associated with it. The classical approaches suffer from the triple problems of decoupled of task assignment and path planning, poor real-time performance and limited adaptability.…
To eliminate the effect of ocean currents when addressing the optimal path in the underwater environment, an intelligent algorithm designed for the unmanned underwater vehicle (UUV) is proposed in this paper. The algorithm consists of two…