Related papers: Ocean Plume Tracking with Unmanned Surface Vessels…
The shipping industry is one of the strongest anthropogenic emitters of $\text{NO}_\text{x}$ -- substance harmful both to human health and the environment. The rapid growth of the industry causes societal pressure on controlling the…
Event cameras are ideal for object tracking applications due to their ability to capture fast-moving objects while mitigating latency and data redundancy. Existing event-based clustering and feature tracking approaches for surveillance and…
Marine robots, particularly Unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, environmental monitoring, and maritime security. This paper…
We investigate the spatial and temporal features of dense contaminant plumes dynamics in porous materials. Our analysis is supported by novel experimental results concerning pollutant concentration profiles inside a vertical column setup.…
Monitoring the atmospheric dispersion of pollutants is increasingly critical for environmental impact assessments. High-fidelity computational models are often employed to simulate plume dynamics, guiding decision-making and prioritizing…
Inferring continuum models directly from video is hampered by two facts: the recorded field is uncalibrated image intensity rather than a physical state, and direct numerical differentiation of noisy frames is unstable. We develop a…
In this paper, we consider the problem of optimally guiding a large-scale swarm of underwater vehicles that is tasked with the indirect control of an advection-diffusion environmental field. The microscopic vehicle dynamics are governed by…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
In-situ visual observations of marine organisms is crucial to developing behavioural understandings and their relations to their surrounding ecosystem. Typically, these observations are collected via divers, tags, and remotely-operated or…
Monitoring and patrolling large water resources is a major challenge for conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of…
A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2 meter-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee…
Advancements in onboard computing mean remote sensing agents can employ state-of-the-art computer vision and machine learning at the edge. These capabilities can be leveraged to unlock new rare, transient, and pinpoint measurements of…
We propose a new approach to estimate the causal effects of maritime traffic when natural or policy experiments are not available. We apply this method to the case of Marseille, a large Mediterranean port city, where air pollution emitted…
In coverage control problems that involve time-varying density functions, the coverage control law depends on spatial integrals of the time evolution of the density function. The latter is often neglected, replaced with an upper bound or…
We show the impact that scalar structures deformation and mixing has on the fate of plumes of waterborne contaminant transported through a chemically heterogeneous, partially adsorbing porous medium. Via pore-scale simulations, we follow…
This article proposes an approach for collision avoidance, path following, and anti-grounding of autonomous surface vessels under consideration of environmental forces based on Nonlinear Model Predictive Control (NMPC). Artificial Potential…
This article presents an innovative approach for developing an efficient reduced-order model to study the dispersion of urban air pollutants. The need for real-time air quality monitoring has become increasingly important, given the rise in…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
In order to reduce light pollution we have to reduce the overall amount of artificial light emissions. This is a consequence of the basic rules governing the propagation of light in the terrestrial environment. In this work I revisit the…
This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based…