Related papers: Online Stochastic Variational Gaussian Process Map…
Autonomous underwater vehicles (AUV) have a wide variety of applications in the marine domain, including exploration, surveying, and mapping. Their navigation systems rely heavily on fusing data from inertial sensors and a Doppler velocity…
Autonomous underwater vehicles (AUVs) are used in a wide range of underwater applications, ranging from seafloor mapping to industrial operations. While underwater, the AUV navigation solution commonly relies on the fusion between inertial…
Simultaneous localization and mapping (SLAM) is a critical capability for any autonomous underwater vehicle (AUV). However, robust, accurate state estimation is still a work in progress when using low-cost sensors. We propose enhancing a…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Improved designs for Autonomous Underwater Vehicles (AUV) are becoming increasingly important due to their utility in academic and industrial applications. However, a majority of such testing and design is carried out under conditions that…
Autonomous maritime surveillance and target vessel identification in environments where Global Navigation Satellite Systems (GNSS) are not available is critical for a number of applications such as search and rescue and threat detection.…
Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…
Trash deposits in aquatic environments have a destructive effect on marine ecosystems and pose a long-term economic and environmental threat. Autonomous underwater vehicles (AUVs) could very well contribute to the solution of this problem…
The speed of response by search and rescue teams at sea is of vital importance, as survival may depend on it. Recent technological advancements have led to the development of more efficient systems for locating individuals involved in a…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
Autonomous Surface Vehicles (ASVs) play a crucial role in maritime operations, yet their navigation in shallow-water environments remains challenging due to dynamic disturbances and depth constraints. Traditional navigation strategies…
Navigation and localization of UAVs present a challenge when global navigation satellite systems (GNSS) are disrupted and unreliable. Traditional techniques, such as simultaneous localization and mapping (SLAM) and visual odometry (VO),…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…
Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective and light-weight passive visual and inertial sensors to…
Automatic underground parking has attracted considerable attention as the scope of autonomous driving expands. The auto-vehicle is supposed to obtain the environmental information, track its location, and build a reliable map of the…
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…
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external…
Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization techniques based on radio frequency or optics are suitable due…
An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale…