Related papers: Field trial on Ocean Estimation for Multi-Vessel M…
We present a transportable system for ocean observations in which a small autonomous surface vehicle (ASV) adaptively collects spatially diverse samples with aid from a team of inexpensive, passive floating sensors known as drifters.…
Repeated exploration of a water surface to detect objects of interest and their subsequent monitoring is important in search-and-rescue or ocean clean-up operations. Since the location of any detected object is dynamic, we propose to…
A hybrid physics-machine learning modeling framework is proposed for the surface vehicles' maneuvering motions to address the modeling capability and stability in the presence of environmental disturbances. From a deep learning perspective,…
The underactuated vehicles are apposite for the long-term deployment and data collection in spatiotemporally varying marine environments. However, these vehicles need to estimate their positions (states) with intrinsic sensing in their…
Maritime domain awareness is critical for protecting sea lanes, ports, harbors, offshore structures and critical infrastructures against common threats and illegal activities. Limited surveillance resources constrain maritime domain…
Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…
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.…
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…
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 presents the integration of flow field reconstruction, dynamic probabilistic modeling, search control, and machine vision detection in a system for autonomous maritime search operations. Field experiments conducted in Valun Bay…
Based on machine learning techniques, we propose a novel method to estimate flow fields using only floating sensor locations. This method does not require either ground-truth velocity fields or governing equations for fluid flows, which is…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
Unmanned surface vehicles can encounter a number of varied visual circumstances during operation, some of which can be very difficult to interpret. While most cases can be solved only using color camera images, some weather and lighting…
Estimation of unsteady flow fields around flight vehicles may improve flow interactions and lead to enhanced vehicle performance. Although flow-field representations can be very high-dimensional, their dynamics can have low-order…
Autonomous underwater vehicles often perform surveys that capture multiple views of targets in order to provide more information for human operators or automatic target recognition algorithms. In this work, we address the problem of…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…
Accurate vessel trajectory prediction is essential for enhancing situational awareness and preventing collisions. Still, existing data-driven models are constrained mainly to single-vessel forecasting, overlooking vessel interactions,…
Do fish respond to the presence of underwater vehicles, potentially biasing our estimates about them? If so, are there strategies to measure and mitigate this response? This work provides a theoretical and practical framework towards…
Maritime Autonomous Surface Ships (MASS) have emerged as a promising solution to enhance navigational safety, operational efficiency, and long-term cost effectiveness. However, their reliable deployment requires rigorous verification and…
We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The…