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Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Teams of cooperating autonomous underwater vehicles (AUVs) rely on acoustic communication for coordination, yet this communication medium is constrained by limited range, multi-path effects, and low bandwidth. One way to address the…
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,…
An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing…
Autonomous underwater vehicles (AUVs) are employed for marine applications and can operate in deep underwater environments beyond human reach. A standard solution for the autonomous navigation problem can be obtained by fusing the inertial…
The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…
Autonomous underwater vehicles (AUVs) are essential for various applications, including oceanographic surveys, underwater mapping, and infrastructure inspections. Accurate and robust navigation are critical to completing these tasks. To…
The localization of Unmanned aerial vehicles (UAVs) in deep tunnels is extremely challenging due to their inaccessibility and hazardous environment. Conventional outdoor localization techniques (such as using GPS) and indoor localization…
Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…
Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework…
Unmanned Surface Vehicles (USVs) have become critical tools for marine exploration, environmental monitoring, and autonomous navigation. Accurate estimation of wave direction is essential for improving USV navigation and ensuring…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
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…
Autonomous Unmanned Underwater Vehicles (UUVs) enable military and civilian covert operations in coastal areas without relying on support vessels or Global Navigation Satellite Systems (GNSS). Such operations are critical when surface…
The transition of seaweed farming to an alternative food source on an industrial scale relies on automating its processes through smart farming, equivalent to land agriculture. Key to this process are autonomous underwater vehicles (AUVs)…
We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…
Robots such as autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) have been used for sensing and monitoring aquatic environments such as oceans and lakes. Environmental sampling is a challenging task because the…
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…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually,…