Related papers: Close-Proximity Underwater Terrain Mapping Using L…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
This paper presents a general framework integrating vision and acoustic sensor data to enhance localization and mapping in highly dynamic and complex underwater environments, with a particular focus on fish farming. The proposed pipeline is…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Estimating the distance to objects is crucial for autonomous vehicles when using depth sensors is not possible. In this case, the distance has to be estimated from on-board mounted RGB cameras, which is a complex task especially in…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
Autonomous navigation in offroad environments has been extensively studied in the robotics field. However, navigation in covert situations where an autonomous vehicle needs to remain hidden from outside observers remains an underexplored…
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…
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…
The underwater domain presents a vast array of challenges for roboticists and computer vision researchers alike, such as poor lighting conditions and high dynamic range scenes. In these adverse conditions, traditional vision techniques…
Autonomous underwater vehicle (AUV) plays an increasingly important role in ocean exploration. Existing AUVs are usually not fully autonomous and generally limited to pre-planning or pre-programming tasks. Reinforcement learning (RL) and…
Cooperating autonomous underwater vehicles (AUVs) often rely on acoustic communication to coordinate their actions effectively. However, the reliability of underwater acoustic communication decreases as the communication range between…
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest.…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…
Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…
Navigating densely vegetated environments poses significant challenges for autonomous ground vehicles. Learning-based systems typically use prior and in-situ data to predict terrain traversability but often degrade in performance when…
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…