Related papers: Leveraging synthetic imagery for collision-at-sea …
We consider a new control strategy for marine navigation, equipped with finite-time convergence characteristics. We provide mathematical guarantees for waypoint reaching and obstacle avoidance for different encounter scenarios, by deriving…
There have been intensive research interests in ship detection and segmentation due to high demands on a wide range of civil applications in the last two decades. However, existing approaches, which are mainly based on statistical…
The increasing importance of Vision-Based Navigation (VBN) algorithms in space missions raises numerous challenges in ensuring their reliability and operational robustness. Sensor faults can lead to inaccurate outputs from navigation…
Autonomous driving has been an active area of research and development, with various strategies being explored for decision-making in autonomous vehicles. Rule-based systems, decision trees, Markov decision processes, and Bayesian networks…
In recent years, maritime traffic has increased, especially in seaborne trade. To ensure safety, security, and environmental protection, various systems have been deployed, often combining data for improved effectiveness. One key…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
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…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
We propose a cross attention transformer based method for multimodal sensor fusion to build a birds eye view of a vessels surroundings supporting safer autonomous marine navigation. The model deeply fuses multiview RGB and long wave…
In this paper, we present synthetic data generation framework for flood hazard detection system. For high fidelity and quality, we characterize several real-world properties into virtual world and simulate the flood situation by controlling…
Recently, advancements in vehicle-to-infrastructure communication technologies have elevated the significance of infrastructure-based roadside perception systems for cooperative driving. This paper delves into one of its most pivotal…
In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and…
The next generation of aircraft collision avoidance systems frame the problem as a Markov decision process and use dynamic programming to optimize the alerting logic. The resulting system uses a large lookup table to determine advisories…
Autonomous landing of Unmanned Aerial Vehicles (UAVs) in crowded scenarios is crucial for successful deployment of UAVs in populated areas, particularly in emergency landing situations where the highest priority is to avoid hurting people.…
Highway merging scenarios featuring mixed traffic conditions pose significant modeling and control challenges for connected and automated vehicles (CAVs) interacting with incoming on-ramp human-driven vehicles (HDVs). In this paper, we…
Ship roll motion in high sea states has large amplitudes and nonlinear dynamics, and its prediction is significant for operability, safety, and survivability. This paper presents a novel data-driven methodology to provide a multi-step…
Computed tomography (CT) is a widely used imaging modality for medical diagnosis and treatment. In electroencephalography (EEG), CT imaging is necessary for co-registering with magnetic resonance imaging (MRI) and for creating more accurate…
Transmitting Earth observation image data from satellites to ground stations incurs significant costs in terms of power and bandwidth. For maritime ship detection, on-board data processing can identify ships and reduce the amount of data…
Successful applications of complex vision-based behaviours underwater have lagged behind progress in terrestrial and aerial domains. This is largely due to the degraded image quality resulting from the physical phenomena involved in…
This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characterized by large waves. This onboard UAV system aims to enhance…