Related papers: Robotic Detection of a Human-Comprehensible Gestur…
In this paper, we present a dataset of diving gesture images used for human-robot interaction underwater. By offering this open access dataset, the paper aims at investigating the potential of using visual detection of diving gestures from…
We propose a robust gesture-based communication pipeline for divers to instruct an Autonomous Underwater Vehicle (AUV) to assist them in performing high-risk tasks and helping in case of emergency. A gesture communication language (CADDIAN)…
In this paper, we present a number of robust methodologies for an underwater robot to visually detect, follow, and interact with a diver for collaborative task execution. We design and develop two autonomous diver-following algorithms, the…
In recent years, usage and applications of Autonomous Underwater Vehicles has grown rapidly. Interaction of divers with the AUVs remains an integral part of the usage of AUVs for various applications and makes building robust and efficient…
The uncertainty and variability of underwater environment propose the request to control underwater robots in real time and dynamically, especially in the scenarios where human and robots need to work collaboratively in the field. However,…
This paper presents a deep-learned facial recognition method for underwater robots to identify scuba divers. Specifically, the proposed method is able to recognize divers underwater with faces heavily obscured by scuba masks and breathing…
Reliable human-robot communication is essential for underwater human-robot interaction (U-HRI), yet traditional methods such as acoustic signaling and predefined gesture-based models suffer from limitations in adaptability and robustness.…
In this paper, we propose a novel method for underwater robot-to-human communication using the motion of the robot as "body language". To evaluate this system, we develop simulated examples of the system's body language gestures, called…
As underwater human activities are increasing, the demand for underwater communication service presents a significant challenge. Existing underwater diver communication methods face hurdles due to inherent disadvantages and complex…
In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…
Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…
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…
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…
Many underwater tasks, such as cable-and-wreckage inspection and search-and-rescue, can benefit from robust Human-Robot Interaction (HRI) capabilities. With the recent advancements in vision-based underwater HRI methods, Autonomous…
Hand gesture recognition allows humans to interact with machines non-verbally, which has a huge application in underwater exploration using autonomous underwater vehicles. Recently, a new gesture-based language called CADDIAN has been…
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…
This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple…
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…
Recent advances in efficient design, perception algorithms, and computing hardware have made it possible to create improved human-robot interaction (HRI) capabilities for autonomous underwater vehicles (AUVs). To conduct secure missions as…
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…