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Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
This paper is devoted to local sensing and communication for collective underwater systems used in networked and swarm modes. It is demonstrated that a specific combination of modal and sub-modal communication, used simultaneously for…
Multi-robot simultaneous localization and mapping (SLAM) is a fundamental task in multi-robot operations. Robots must have a common understanding of their location and that of their team members to complete coordinated actions. However,…
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.…
Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization techniques based on radio frequency or optics are suitable due…
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…
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…
This paper develops a novel unmanned surface vehicle (USV)-autonomous underwater vehicle (AUV) collaborative system designed to enhance underwater task performance in extreme sea conditions. The system integrates a dual strategy: (1)…
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…
There has been a growing interest in extending the capabilities of autonomous underwater vehicles (AUVs) in subsea missions, particularly in integrating underwater human-robot interaction (UHRI) for control. UHRI and its subfield,underwater…
Underwater imagery has enabled numerous civilian applications in various domains, ranging from academia to industry, and from industrial surveillance and maintenance to environmental protection and behavior of marine creatures studies. The…
The exploration and sustainable use of marine environments have become increasingly critical as oceans cover over 70% of surface of Earth. This paper provides a comprehensive survey and classification of state-of-the-art underwater vehicles…
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 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…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
This paper presents a scalable acoustic navigation approach for the unified command, control and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually, by…
Autonomous Underwater Vehicles (AUVs) commonly utilize an inertial navigation system (INS) and a Doppler velocity log (DVL) for underwater navigation. To that end, their measurements are integrated through a nonlinear filter such as the…
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a $\textit{blind}$ robot, and…
Teams of cooperating autonomous underwater vehicles (AUVs) rely on acoustic communication for coordination, yet this communication medium is constrained by limited range, multi-path effects, and low bandwidth. One way to address the…
Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…