Related papers: On the Verification and Validation of AI Navigatio…

The increasing automation of vehicles is resulting in the integration of more extensive in-vehicle sensor systems, electronic control units, and software. Additionally, vehicle-to-everything communication is seen as an opportunity to extend…

Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…

The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…

Autonomous Vehicles are currently being tested in a variety of scenarios. As we move towards Autonomous Vehicles, how should intersections look? To answer that question, we break down an intersection management into the different conundrums…

The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…

Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the…

Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…

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…

Digital testing has emerged as a key paradigm for the development and verification of autonomous maritime navigation systems, yet the availability of realistic and diverse safety-critical encounter scenarios remains limited. Existing…

Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. However, existing mapping approaches often assume perfect pose…

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…

This paper discusses opportunities to parallelize graph based path planning algorithms in a time varying environment. Parallel architectures have become commonplace, requiring algorithm to be parallelized for efficient execution. An…

As a part of the digital transformation, we interact with more and more intelligent gadgets. Today, these gadgets are often mobile devices, but in the advent of smart cities, more and more infrastructure---such as traffic and buildings---in…

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…

Artificial intelligence for autonomous driving must meet strict requirements on safety and robustness, which motivates the thorough validation of learned models. However, current validation approaches mostly require ground truth data and…

This thesis explores the benefits machine learning algorithms can bring to online planning and scheduling for autonomous vehicles in off-road situations. Mainly, we focus on typical problems of interest which include computing itineraries…

This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC)…

Autonomous vehicles (AVs) are now operating on public roads, which makes their testing and validation more critical than ever. Simulation offers a safe and controlled environment for evaluating AV performance in varied conditions. However,…

The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…

The primary objective of a safe navigation algorithm is to guide the object from its current position to the target position while avoiding any collision with the en-route obstacles, and the appropriate obstacle avoidance strategies are the…