Related papers: Design and Experiments with LoCO AUV: A Low Cost O…
Recently, reinforcement learning (RL) has been extensively studied and achieved promising results in a wide range of control tasks. Meanwhile, autonomous underwater vehicle (AUV) is an important tool for executing complex and challenging…
Automatic underwater vehicle hull Design optimization is a complex engineering process for generating a UUV hull with optimized properties on a given requirement. First, it involves the integration of involved computationally complex…
We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…
Underwater robotics is becoming increasingly important for marine science, environmental monitoring, and subsea industrial operations, yet the development of underwater manipulation and actuation systems remains restricted by high costs,…
Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic information about the objects of interest from raw sensory…
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…
Underwater environments pose unique challenges for robotic navigation and manipulation. While existing research has primarily focused on task-specific methods, studies on general-purpose intelligence for multi-task execution remain scarce.…
This paper describes the experience of preparing and testing the SPARUS II AUV in different applications. The AUV was designed as a lightweight vehicle combining the classical torpedo-shape features with the hovering capability. The robot…
Autonomous robots can help people explore parts of the ocean that would be hard or impossible to get to otherwise. The increase in the availability of low-cost components has made it possible to innovate, design, and implement new and…
Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting…
This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We…
Simulations play a crucial role in robotics research and education. This paper presents the OpenUAV testbed, an open-source, easy-to-use, web-based, and reproducible software system that enables students and researchers to run robotic…
This study presents acoustic-based methods for the control of multiple autonomous underwater vehicles (AUV). This study proposes two different models for implementing boundary and path control on low-cost AUVs using acoustic communication…
Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which are significant in water and cannot be ignored. The problem is exacerbated for small AUVs for which the dynamics…
Using autonomous underwater vehicles, or AUVs, has completely changed how we gather data from the ocean floor. AUV innovation has advanced significantly, especially in the analysis of images, due to the increasing need for accurate and…
Autonomous robots can transform how we observe marine ecosystems, but close-range operation in reefs and other cluttered habitats remains difficult. Vehicles must maneuver safely near animals and fragile structures while coping with…
There exists a capability gap in the design of currently available autonomous underwater vehicles (AUV). Most AUVs use a set of thrusters, and optionally control surfaces, to control their depth and pose. AUVs utilizing thrusters can be…
Lio is a mobile robot platform with a multi-functional arm explicitly designed for human-robot interaction and personal care assistant tasks. The robot has already been deployed in several health care facilities, where it is functioning…
This paper presents UnderwaterVLA, a novel framework for autonomous underwater navigation that integrates multimodal foundation models with embodied intelligence systems. Underwater operations remain difficult due to hydrodynamic…
This paper proposes the trajectory tracking problem between an autonomous underwater vehicle (AUV) and a mobile surface ship, both equipped with optical communication transceivers. The challenging issue is to maintain stable connectivity…