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Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unmanned Aerial Vehicles (UAVs) offer an alternative to manual…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
For an autonomous surface vessel (ASV) to dock, it must track other vessels close to the docking area. Kayaks present a particular challenge due to their proximity to the dock and relatively small size. Maritime target tracking has…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
Complex manipulation tasks require careful integration of symbolic reasoning and motion planning. This problem, commonly referred to as Task and Motion Planning (TAMP), is even more challenging if the workspace is non-static, e.g. due to…
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…
For autonomous vehicles to operate persistently in a typical urban environment, it is essential to have high accuracy position information. This requires a mapping and localisation system that can adapt to changes over time. A localisation…
Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…
Maritime Autonomous Surface Ships (MASS) have emerged as a promising solution to enhance navigational safety, operational efficiency, and long-term cost effectiveness. However, their reliable deployment requires rigorous verification and…
In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while…
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…
Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…
Geopositioning and tracking a moving boat at sea is a very challenging problem, requiring boat detection, matching and estimating its GPS location from imagery with no common features. The problem can be stated as follows: given imagery…
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…
This paper presents an evaluation of a number of probabilistic algorithms for localization of autonomous underwater vehicles (AUVs) using bathymetry data. The algorithms, based on the principles of the Bayes filter, work by fusing…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
We introduce local matching stability and furthest matchable frame as quantitative measures for evaluating the success of underwater image enhancement. This enhancement process addresses visual degradation caused by light absorption,…
Marine pollution is a growing worldwide concern, affecting health of marine ecosystems, human health, climate change, and weather patterns. To reduce underwater pollution, it is critical to have access to accurate information about the…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…