Related papers: Underwater Caging and Capture for Autonomous Under…
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…
Unmanned aerial vehicles (UAVs) can be used to provide wireless network and remote surveillance coverage for disaster-affected areas. During such a situation, the UAVs need to return periodically to a charging station for recharging, due to…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
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…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
Cleaning pollution from a heterogeneous flow environment is far from simple. We consider the flow capture problem, which has flows and sinks in a heterogeneous environment, and investigate the problem of positioning pollutant capture units.…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
Unmanned aerial vehicle (UAV) base stations (BSs) are reliable and efficient alternative to full fill the coverage and capacity requirements when the backbone network fails to provide such requirements due to disasters. In this paper, we…
Unmanned Aerial Vehicles (UAVs), although adept at aerial surveillance, are often constrained by limited battery capacity. By refueling on slow-moving Unmanned Ground Vehicles (UGVs), their operational endurance can be significantly…
Non-parametric system identification with Gaussian Processes for underwater vehicles is explored in this research with the purpose of modelling autonomous underwater vehicle (AUV) dynamics with low amount of data. Multi-output Gaussian…
We introduce a launch device, called the remotely-enabled modular release mechanism, to augment rapid testing and prototyping of cooperative autonomy maritime applications by facilitating autonomous deployment of an autonomous underwater…
An innovative method of detecting Unmanned Aerial Vehicles (UAVs) is presented. The goal of this study is to develop a robust setup for an autonomous multi-rotor hunter UAV, capable of visually detecting and tracking the intruder UAVs for…
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate…
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable.…
Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this…
In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…
Object tracking in inland waterways plays a crucial role in safe and cost-effective applications, including waterborne transportation, sightseeing tours, environmental monitoring and surface rescue. Our Unmanned Surface Vehicle (USV),…
This paper explores the use of a Bayesian non-parametric topic modeling technique for the purpose of anomaly detection in video data. We present results from two experiments. The first experiment shows that the proposed technique is…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of…