Related papers: DAVE Aquatic Virtual Environment: Toward a General…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
This paper addresses the problem of robotic operations in the presence of adversarial forces. We presents a complete framework for survey operations: waypoint generation,modelling of forces and tuning the control. In many applications of…
The energy of ocean waves is the key distinguishing factor of marine environments compared to other aquatic environments such as lakes and rivers. Waves significantly affect the dynamics of marine vehicles; hence it is imperative to…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
Robotic imitation learning has advanced from solving static tasks to addressing dynamic interaction scenarios, but testing and evaluation remain costly and challenging due to the need for real-time interaction with dynamic environments. We…
Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous,…
The use of machine learning in cyber-physical systems has attracted the interest of both industry and academia. However, no general solution has yet been found against the unpredictable behavior of neural networks and reinforcement learning…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
Underwater navigation is a challenging area in the field of mobile robotics due to inherent constraints in self-localisation and communication in underwater environments. Some of these challenges can be mitigated by using collaborative…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…
With the advancement of AI technology and increasing attention to deep-sea exploration, the underwater Metaverse is gradually emerging. This paper explores the concept of underwater Metaverse, emerging virtual reality systems and services…
With the growing interest in underwater exploration and monitoring, Autonomous Underwater Vehicles (AUVs) have become essential. The recent interest in onboard Deep Learning (DL) has advanced real-time environmental interaction capabilities…
Reinforcement learning-based quadruped robots excel across various terrains but still lack the ability to swim in water due to the complex underwater environment. This paper presents the development and evaluation of a data-driven…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
Underwater video enhancement (UVE) aims to improve the visibility and frame quality of underwater videos, which has significant implications for marine research and exploration. However, existing methods primarily focus on developing image…
Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. \acp{I-AUV} not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves…
We present MeCO, the Medium Cost Open-source autonomous underwater vehicle (AUV), a versatile autonomous vehicle designed to support research and development in underwater human-robot interaction (UHRI) and marine robotics in general. An…
The current approach for new Advanced Driver Assistance System (ADAS) and Connected and Automated Driving (CAD) function development involves a significant amount of public road testing which is inefficient due to the number miles that need…
Accurate real-time buoyancy modeling is essential for high-fidelity Autonomous Underwater Vehicle (AUV) simulations, yet NVIDIA Isaac Sim lacks a native buoyancy system, requiring external solutions for precise underwater physics. This…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…