Related papers: CUREE: A Curious Underwater Robot for Ecosystem Ex…
Coral reefs, crucial for sustaining marine biodiversity and ecological processes (e.g., nutrient cycling, habitat provision), face escalating threats, underscoring the need for efficient monitoring. Coral reef ecological monitoring faces…
Optimal sampling strategies are critical for surveys of deeper coral reef and shoal systems, due to the significant cost of accessing and field sampling these remote and poorly understood ecosystems. Additionally, well-established standard…
Easily accessible sensors, like drones with diverse onboard sensors, have greatly expanded studying animal behavior in natural environments. Yet, analyzing vast, unlabeled video data, often spanning hours, remains a challenge for machine…
The exploration and sustainable use of marine environments have become increasingly critical as oceans cover over 70% of surface of Earth. This paper provides a comprehensive survey and classification of state-of-the-art underwater vehicles…
With the growth of sensing, control and robotic technologies, autonomous underwater vehicles (AUVs) have become useful assistants to human divers for performing various underwater operations. In the current practice, the divers are required…
The ability to detect pedestrians and other moving objects is crucial for an autonomous vehicle. This must be done in real-time with minimum system overhead. This paper discusses the implementation of a surround view system to identify…
Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…
One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…
We present a robotic exploration technique in which the goal is to learn to a visual model and be able to distinguish between different terrains and other visual components in an unknown environment. We use ROST, a realtime online…
Autonomous robots can help people explore parts of the ocean that would be hard or impossible to get to otherwise. The increase in the availability of low-cost components has made it possible to innovate, design, and implement new and…
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of…
Underwater surveys conducted using divers or robots equipped with customized camera payloads can generate a large number of images. Manual review of these images to extract ecological data is prohibitive in terms of time and cost, thus…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Oyster reefs are critical ecosystem species that sustain biodiversity, filter water, and protect coastlines, yet they continue to decline globally. Restoring these ecosystems requires regular underwater monitoring to assess reef health, a…
We introduce COU: Common Objects Underwater, an instance-segmented image dataset of commonly found man-made objects in multiple aquatic and marine environments. COU contains approximately 10K segmented images, annotated from images…
There is still a long way to go before artificial mini robots are really used for search and rescue missions in disaster-hit areas due to hindrance in power consumption, computation load of the locomotion, and obstacle-avoidance system.…
In vegetated environments, such as forests, exploratory robots play a vital role in navigating complex, cluttered environments where human access is limited and traditional equipment struggles. Visual occlusion from obstacles, such as…
Marine ecosystems and their fish habitats are becoming increasingly important due to their integral role in providing a valuable food source and conservation outcomes. Due to their remote and difficult to access nature, marine environments…