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Promoting the levels of autonomy facilitates the vehicle in performing long-range operations with minimum supervision. The capability of Autonomous Underwater Vehicles (AUVs) to fulfill the mission objectives is directly influenced by route…

Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…

This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…

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…

Unmanned surface vessels USVs are typically autonomous or remotely operated and are specifically designed for environmental monitoring in various aquatic environments Aquaculture requires constant monitoring and management of water quality…

Autonomous Surface Vehicles (ASVs) provide an effective way to actualize applications such as environment monitoring, search and rescue, and scientific researches. However, the conventional ASVs depends overly on the stored energy. Hybrid…

Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of…

The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…

Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…

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…

Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning…

Autonomous navigation of a robot in agricultural fields is essential for every task from crop monitoring to weed management and fertilizer application. Many current approaches rely on accurate GPS, however, such technology is expensive and…

Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…

An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale…

Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…

This paper introduces the first publicly accessible labeled multi-modal perception dataset for autonomous maritime navigation, focusing on in-water obstacles within the aquatic environment to enhance situational awareness for Autonomous…

This paper addresses the challenge of generating optimal vehicle flow at the macroscopic level. Although several studies have focused on optimizing vehicle flow, little attention has been given to ensuring it can be practically achieved. To…

This paper proposes a path planning strategy for an Autonomous Ground Vehicle (AGV) navigating in a partially known environment. Global path planning is performed by first using a spatial database of the region to be traversed containing…

This paper proposes an uncertainty-aware marine pollution source tracking framework for unmanned surface vehicles (USVs). By integrating high-fidelity marine pollution dispersion simulation with informative path planning techniques, we…

Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against potential hazards. Recent methods use deep neural networks…