Related papers: Autonomous Navigation in Confined Waters -- A COLR…
Wirelessly connected vehicles that exchange information about traffic conditions can reduce delays caused by congestion. At a 2-to-1 lane reduction, the improvement in flow past a bottleneck due to traffic with a random mixture of 40%…
Autonomous maritime surveillance and target vessel identification in environments where Global Navigation Satellite Systems (GNSS) are not available is critical for a number of applications such as search and rescue and threat detection.…
Reliable real-time trajectory generation is essential for future autonomous spacecraft. While recent progress in nonconvex guidance and control is paving the way for onboard autonomous trajectory optimization, these methods still rely on…
The recent adoption of artificial intelligence in robotics has driven the development of algorithms that enable autonomous systems to adapt to complex social environments. In particular, safe and efficient social navigation is a key…
Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…
In-situ visual observations of marine organisms is crucial to developing behavioural understandings and their relations to their surrounding ecosystem. Typically, these observations are collected via divers, tags, and remotely-operated or…
Autonomous navigation for nano-scale unmanned aerial vehicles (nano-UAVs) is governed by extreme Size, Weight, and Power (SWaP) constraints (with the weight < 50 g and sub-100 mW onboard processor), distinguishing it fundamentally from…
Routing vessels through narrow and dynamic waterways is challenging due to changing environmental conditions and operational constraints. Existing vessel-routing studies typically fail to generalize across multiple origin-destination pairs…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
While deep reinforcement learning (RL) has been increasingly applied in designing car-following models in the last years, this study aims at investigating the feasibility of RL-based vehicle-following for complex vehicle dynamics and strong…
This paper explores the application of CNN-DNN network fusion to construct a robot navigation controller within a simulated environment. The simulated environment is constructed to model a subterranean rescue situation, such that an…
This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
Unmanned Surface Vehicles (USVs) are increasingly applied to water operations such as environmental monitoring and river-map modeling. It faces a significant challenge in achieving precise autonomous docking at ports or stations, still…
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…
This work presents a density-based framework for safe navigation in dynamic environments characterized by time-varying obstacle sets and time-varying target regions. We propose an analytical construction of time-varying density functions…
There is a growing demand for mobile robots to operate in more variable environments, where guaranteeing safe robot navigation is a priority, in addition to time performance. To achieve this, current solutions for local planning use a…
In the real world, unmanned surface vehicles (USV) often need to coordinate with each other to accomplish specific tasks. However, achieving cooperative control in multi-agent systems is challenging due to issues such as non-stationarity…
Manually monitoring water quality is very exhausting and requires several hours of sampling and laboratory testing for a particular body of water. This article presents a solution to test water properties like electrical conductivity and pH…
Online approximation of the optimal station keeping strategy for a fully actuated six degrees-of-freedom marine craft subject to an irrotational ocean current is considered. An approximate solution to the optimal control problem is obtained…