Related papers: Planning Safe Paths through Hazardous Environments

In underwater navigation, accurate heading information is crucial for accurately and continuously tracking trajectories, especially during extended missions beneath the waves. In order to determine the initial heading, a gyrocompassing…

Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…

We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…

We propose a risk-aware framework for multi-robot, multi-demand assignment and planning in unknown environments. Our motivation is disaster response and search-and-rescue scenarios where ground vehicles must reach demand locations as soon…

In this article, we address aquatic environmental monitoring using a fleet of unmanned surface vehicles (USVs). Specifically, we develop an online path generator that provides either circular or elliptic paths based on the real-time…

Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…

We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…

Identification of regions affected by floods is a crucial piece of information required for better planning and management of post-disaster relief and rescue efforts. Traditionally, remote sensing images are analysed to identify the extent…

The Unmanned Aerial Vehicle (UAV) path planning problem is a complex optimization problem in the field of robotics. In this paper, we investigate the possible utilization of this problem in benchmarking global optimization methods. We…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…

In Japan, inspection of irrigation water canals has been mostly conducted manually. However, the huge demand for more regular inspections as infrastructure ages, coupled with the limited time window available for inspection, has rendered…

Prevalent solutions for Connected and Autonomous vehicle (CAV) mapping include high definition map (HD map) or real-time Simultaneous Localization and Mapping (SLAM). Both methods only rely on vehicle itself (onboard sensors or embedded…

Autonomous underwater vehicles (AUVs) are used in a wide range of underwater applications, ranging from seafloor mapping to industrial operations. While underwater, the AUV navigation solution commonly relies on the fusion between inertial…

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…

Autonomous underwater vehicles (AUVs) are essential for various applications, including oceanographic surveys, underwater mapping, and infrastructure inspections. Accurate and robust navigation are critical to completing these tasks. To…

The AUV three-dimension path planning in complex turbulent underwater environment is investigated in this research, in which static current map data and uncertain static-moving time variant obstacles are taken into account. Robustness of…

Unmanned Aerial Vehicles (UAVs) have been implemented for environmental monitoring by using their capabilities of mobile sensing, autonomous navigation, and remote operation. However, in real-world applications, the limitations of on-board…

Traditional sea exploration faces significant challenges due to extreme conditions, limited visibility, and high costs, resulting in vast unexplored ocean regions. This paper presents an innovative AI-powered Autonomous Underwater Vehicle…

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…