Related papers: Online Stochastic Variational Gaussian Process Map…
The transport industry has recently shown significant interest in unmanned surface vehicles (USVs), specifically for port and inland waterway transport. These systems can improve operational efficiency and safety, which is especially…
This article introduces a five-tiered route planner for accessing multiple nodes with multiple autonomous underwater vehicles (AUVs) that enables efficient task completion in stochastic ocean environments. First, the pre-planning tier…
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…
Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…
Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-Mission…
In the trending research of fusing Large Language Models (LLMs) and robotics, we aim to pave the way for innovative development of AI systems that can enable Autonomous Underwater Vehicles (AUVs) to seamlessly interact with humans in an…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
Unmanned Surface Vehicles (USVs) in the ocean environment, considering various spatiotemporal factors such as ocean currents and other energy consumption factors. The paper uses Gaussian Process Motion Planning (GPMP2), a Bayesian…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
This paper presents the integration of flow field reconstruction, dynamic probabilistic modeling, search control, and machine vision detection in a system for autonomous maritime search operations. Field experiments conducted in Valun Bay…
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…
The ability to navigate, search, and monitor dynamic marine environments such as ports, deltas, tributaries, and rivers presents several challenges to both human operated and autonomously operated surface vehicles. Human data collection and…
Promoting the levels of autonomy facilitates the vehicle in performing long-range operations with minimum supervision. The capability of Autonomous Underwater Vehicles (AUVs) to fulfill the mission objectives is directly influenced by route…
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…
Unmanned Surface Vehicles (USVs) are pivotal in marine exploration, but their sensors' accuracy is compromised by the dynamic marine environment. Traditional calibration methods fall short in these conditions. This paper introduces a deep…
In this paper we address the mine countermeasures (MCM) search problem for an autonomous underwater vehicle (AUV) surveying the seabed using a side-looking sonar. We propose a coverage path planning method that adapts the AUV track spacing…
This paper presents SubPipe, an underwater dataset for SLAM, object detection, and image segmentation. SubPipe has been recorded using a \gls{LAUV}, operated by OceanScan MST, and carrying a sensor suite including two cameras, a side-scan…
We present a safety-oriented framework for autonomous underwater vehicles (AUVs) that improves localization accuracy, enhances trajectory prediction, and supports efficient search operations during communication loss. Acoustic signals…
Identification of regions affected by floods is a crucial piece of information required for better planning and management of post-disaster relief and rescue efforts. Traditionally, remote sensing images are analysed to identify the extent…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…