Related papers: An Autonomous Surface Vehicle for Long Term Operat…
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external…
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…
Autonomous ground vehicles operating in shallow water or flood-prone terrains require dynamic models that account for hydrodynamic forces. However, the simulation and planning tools currently available either lack the physical fidelity or…
This paper presents Low-cost Marine Autonomous Robotic Vehicle Explorer (Lo-MARVE), a novel autonomous underwater vehicle (AUV) designed to provide a low cost solution for underwater exploration and environmental monitoring in shallow water…
The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To…
In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface…
Amidst rapid urban development, sustainable transportation solutions are required to meet the increasing demands for mobility whilst mitigating the potentially negative social, economic, and environmental impacts. This study analyses…
Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…
Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communication delays and interferences. In nuclear inspection, robots…
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…
Advances in hardware technology have enabled more integration of sophisticated software, triggering progress in the development and employment of Unmanned Vehicles (UVs), and mitigating restraints for onboard intelligence. As a result, UVs…
Autonomous driving technology pledges safety, convenience, and energy efficiency. Challenges include the unknown intentions of other road users: communication between vehicles and with the road infrastructure is a possible approach to…
Special-purpose Autonomous Underwater Vehicles (AUVs) are utilised for benthic (seafloor) surveys, where the vehicle collects optical imagery of the seafloor. Due to the small-sensor footprint of the cameras and the vast areas to be…
For autonomous vehicles to operate persistently in a typical urban environment, it is essential to have high accuracy position information. This requires a mapping and localisation system that can adapt to changes over time. A localisation…
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage efficiency, but often overlook that visual-inertial odometry…
Autonomous vehicles (AVs) are expected to bring major benefits to transport and society. To exploit this potential, their acceptance by society is a necessary condition. However, AV acceptance is currently at stake: AVs face resistance by…
High-definition (HD) maps are essential for autonomous driving, providing precise information such as road boundaries, lane dividers, and crosswalks to enable safe and accurate navigation. However, traditional HD map generation is…
In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this…
We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…
Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way…