Related papers: An Underactuated Vehicle Localization Method in Ma…
We present a transportable system for ocean observations in which a small autonomous surface vehicle (ASV) adaptively collects spatially diverse samples with aid from a team of inexpensive, passive floating sensors known as drifters.…
Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In this…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
Marine vehicles have been used for various scientific missions where information over features of interest is collected. In order to maximise efficiency in collecting information over a large search space, we should be able to deploy a…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
Determining the optimal locations for placing extra observational measurements has practical significance. However, the exact underlying flow field is never known in practice. Significant uncertainty appears when the flow field is inferred…
We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more…
Commonplace in oceanography is the collection of ocean drifter positions. Ocean drifters are devices that sit on the surface of the ocean and move with the flow, transmitting their position via GPS to stations on land. Using drifter data,…
Water current prediction is essential for understanding ecosystems, and to shed light on the role of the ocean in the global climate context. Solutions vary from physical modeling, and long-term observations, to short-term measurements. In…
We propose a novel technique for guidance of buoyancy-controlled vehicles in uncertain under-ice ocean flows. In-situ melt rate measurements collected at the grounding zone of Antarctic ice shelves, where the ice shelf meets the underlying…
Concept drift -- the change of the distribution over time -- poses significant challenges for learning systems and is of central interest for monitoring. Understanding drift is thus paramount, and drift localization -- determining which…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…
We embark on a hitherto unreported problem of an autonomous robot (self-driving car) navigating in dynamic scenes in a manner that reduces its localization error and eventual cumulative drift or Absolute Trajectory Error, which is…
This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…
Underwater glider robots have become indispensable for ocean sampling, yet fully autonomous long-term operation remains rare in practice. Although stakeholders are calling for tools to manage increasingly large fleets of gliders, existing…
We propose a map-aided vehicle localization method for GPS-denied environments. This approach exploits prior knowledge of the road grade map and vehicle on-board sensor measurements to accurately estimate the longitudinal position of the…
Advancing towards high automation and autonomous operations is crucial for the future of inland waterway transport (IWT) systems. These systems necessitate robust and precise onboard sensory technologies that can perceive the environment…