Related papers: Ocean Plume Tracking with Unmanned Surface Vessels…
Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…
Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous,…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
Marine robots must maintain precise control and ensure safety during tasks like ocean monitoring, even when encountering unpredictable disturbances that affect performance. Designing algorithms for uncrewed surface vehicles (USVs) requires…
In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the path which is used…
This paper studies coordinated trajectory planning and tracking control for multiple unmanned surface vessels (USVs) under strict privacy requirements. To avoid the privacy risks associated with direct position sharing in conventional…
Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…
In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a path-tangential…
This study presents an advanced multi-view drone swarm imaging system for the three-dimensional characterization of smoke plume dispersion dynamics. The system comprises a manager drone and four worker drones, each equipped with…
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…
With the development of coastal construction, a large amount of human-generated waste, particularly plastic debris, is continuously entering the ocean, posing a severe threat to marine ecosystems. The key to effectively addressing plastic…
This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…
Marine plastic pollution is an emerging environmental problem since it pollutes the ocean, air and food whilst endangering the ocean wildlife via the ingestion and entanglements. During the last decade, an enormous effort has been spent on…
This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control objective as an orbital stabilization problem. It is shown that,…
The determination of horizontal velocity fields at the solar surface is crucial to understanding the dynamics and magnetism of the convection zone of the sun. These measurements can be done by tracking granules. Tracking granules from…
Ship-tracks are produced by ship-emitted aerosols interacting with marine low clouds. Here we apply deep learning models on satellite data to produce the first multi-year global climatology map of ship-tracks. We show that ship-tracks are…
Path Following and Collision Avoidance, be it for unmanned surface vessels or other autonomous vehicles, are two fundamental guidance problems in robotics. For many decades, they have been subject to academic study, leading to a vast number…
Drone technology is proliferating in many industries, including agriculture, logistics, defense, infrastructure, and environmental monitoring. Vision-based autonomy is one of its key enablers, particularly for real-world applications. This…
This paper presents a study on autonomous robot navigation, focusing on three key behaviors: Odometry, Target Tracking, and Obstacle Avoidance. Each behavior is described in detail, along with experimental setups for simulated and…