Related papers: Autonomous Navigation in Confined Waters -- A COLR…
Autonomous ships are essentially designed and equipped to perceive their internal and external environment and subsequently perform appropriate actions depending on the predetermined objective(s) without human intervention. Consequently,…
Autonomous satellite servicing missions must execute close-range rendezvous under stringent safety and operational constraints while remaining computationally tractable for onboard use and robust to uncertainty in sensing, actuation, and…
This article faces the problem of operative and procedural cooperative training in marine ports with particular attention to harbour pilots and port traffic controller. The design and development of an advanced system, equipped with…
Small Uncrewed Aerial Systems (sUAS) are increasingly deployed as autonomous swarms in search-and-rescue and other disaster-response scenarios. In these settings, they use computer vision (CV) to detect objects of interest and autonomously…
There is an increasing demand for piloted autonomous underwater vehicles (AUVs) to operate in polar ice conditions. At present, AUVs are deployed from ships and directly human-piloted in these regions, entailing a high carbon cost and…
This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation…
A two-phase model predictive controller (MPC) is proposed for underactuated surface vessel operation in confined environments. For general driving maneuvers (phase one) the ship's geometry is not considered explicitly while in more…
This paper presents a novel end-to-end Unmanned Aerial System (UAS) navigation approach for long-range visual navigation in the real world. Inspired by dual-process visual navigation system of human's instinct: environment understanding and…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of spatial constraints that ensure collision avoidance. The…
While classical approaches to autonomous robot navigation currently enable operation in certain environments, they break down in tightly constrained spaces, e.g., where the robot needs to engage in agile maneuvers to squeeze between…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
In the near future, the development of autonomous driving will get more complex as the vehicles will not only rely on their own sensors but also communicate with other vehicles and the infrastructure to cooperate and improve the driving…
Low-propulsion vessels can take advantage of powerful ocean currents to navigate towards a destination. Recent results demonstrated that vessels can reach their destination with high probability despite forecast errors. However, these…
Automatic Identification System (AIS) data represents a rich source of information about maritime traffic and offers a great potential for data analytics and predictive modeling solutions, which can help optimizing logistic chains and to…
This paper brings together the concepts of navigation transformation and harmonic functions to form navigation functions that are correct-by-construction in the sense that no tuning is required. The form of the navigation function is…
Accurate, self-consistent bathymetric maps are needed to monitor changes in subsea environments and infrastructure. These maps are increasingly collected by underwater vehicles, and mapping requires an accurate vehicle navigation solution.…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…