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Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…
Underwater glider robots have become indispensable for ocean sampling, yet fully autonomous long-term operation remains rare in practice. Although stakeholders are calling for tools to manage increasingly large fleets of gliders, existing…
Autonomous navigation consists in an agent being able to navigate without human intervention or supervision, it affects both high level planning and low level control. Navigation is at the crossroad of multiple disciplines, it combines…
Coral reefs are fast-changing and complex ecosystems that are crucial to monitor and study. Biological hotspot detection can help coral reef managers prioritize limited resources for monitoring and intervention tasks. Here, we explore the…
As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…
We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of unknown space. Building on recent work in…
Cooperating autonomous underwater vehicles (AUVs) often rely on acoustic communication to coordinate their actions effectively. However, the reliability of underwater acoustic communication decreases as the communication range between…
Connected autonomous vehicles (CAVs) promise to enhance safety, efficiency, and sustainability in urban transportation. However, this is contingent upon a CAV correctly predicting the motion of surrounding agents and planning its own motion…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Sustainable water quality underpins ecological balance and water security. Assessing and managing lakes and reservoirs is difficult due to data sparsity, heterogeneity, and nonlinear relationships among parameters. This review examines how…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
This paper presents the portable autonomous probing system (APS), a low-cost robotic design for collecting water quality measurements at targeted depths from an autonomous surface vehicle (ASV). This system fills an important but often…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
Autonomous Underwater Vehicles (AUVs) encounter significant energy, control and navigation challenges in complex underwater environments, particularly during close-proximity operations, such as launch and recovery (LAR), where fluid…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…