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Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (\eg surveillance, inspection, and search-and-rescue) require…
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…
The use of autonomous underwater vehicles (AUVs) to accomplish traditionally challenging and dangerous tasks has proliferated thanks to advances in sensing, navigation, manipulation, and on-board computing technologies. Utilizing AUVs in…
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.…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
Today AUVs operation still remains restricted to very particular tasks with low real autonomy due to battery restrictions. Efficient motion planning and mission scheduling are principle requirement toward advance autonomy and facilitate the…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
A control system structure for the underwater docking procedure of an Autonomous Underwater Helicopter (AUH) is proposed in this paper, which utilizes acoustic-inertial-optical guidance. Unlike conventional Autonomous Underwater Vehicles…
Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…
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…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
In recent years, autonomous underwater vehicle (AUV) swarms are gradually becoming popular and have been widely promoted in ocean exploration or underwater tracking, etc. In this paper, we propose a multi-AUV cooperative underwater…
Underwater sensor networks (UWSNs) are of interest to gather data from underwater sensor nodes (SNs) and deliver information to a terrestrial access point (AP) in the uplink transmission, and transfer data from the AP to the SNs in the…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
Autonomous Underwater Vehicles (AUVs) have shown great potential for cooperative detection and reconnaissance. However, collaborative AUV communications introduce risks of exposure. In adversarial environments, achieving efficient…
We present a safety-oriented framework for autonomous underwater vehicles (AUVs) that improves localization accuracy, enhances trajectory prediction, and supports efficient search operations during communication loss. Acoustic signals…
With the upcoming trends in autonomous driving and urban air mobility, the number of self-navigating vehicles will increase, since they are foreseen for deliveries as well as autonomous taxis among other applications. To this end, a…
This paper presents a time-coordination algorithm for multiple UAVs executing cooperative missions. Unlike previous algorithms, it does not rely on the assumption that the communication between UAVs is bidirectional. Thus, the topology of…