Related papers: External Force Field Modeling for Autonomous Surfa…

We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…

This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…

Efficient navigation through uneven terrain remains a challenging endeavor for autonomous robots. We propose a new geometric-based uneven terrain mapless navigation framework combining a Sparse Gaussian Process (SGP) local map with a…

Unmanned Surface Vehicles (USVs) in the ocean environment, considering various spatiotemporal factors such as ocean currents and other energy consumption factors. The paper uses Gaussian Process Motion Planning (GPMP2), a Bayesian…

This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…

Force fields developed with machine learning methods in tandem with quantum mechanics are beginning to find merit, given their (i) low cost, (ii) accuracy, and (iii) versatility. Recently, we proposed one such approach, wherein, the…

Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…

Self-adaptation is a crucial feature of autonomous systems that must cope with uncertainties in, e.g., their environment and their internal state. Self-adaptive systems are often modelled as two-layered systems with a managed subsystem…

This paper enhances the obstacle avoidance of Autonomous Surface Vehicles (ASVs) for safe navigation in high-traffic waters with an active state estimation of obstacle's passing intention and reducing its uncertainty. We introduce a…

Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that…

Robotic imitation learning has advanced from solving static tasks to addressing dynamic interaction scenarios, but testing and evaluation remain costly and challenging due to the need for real-time interaction with dynamic environments. We…

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.…

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…

With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in the near future. However, it is still challenging for ASVs…

Mapping the surrounding environment is essential for the successful operation of autonomous robots. While extensive research has focused on mapping geometric structures and static objects, the environment is also influenced by the movement…

Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…

We investigate the scenario that a robot needs to reach a designated goal after taking a sequence of appropriate actions in a non-static environment that is partially structured. One application example is to control a marine vehicle to…

Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…

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…

Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…