Related papers: CUREE: A Curious Underwater Robot for Ecosystem Ex…
We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…
The ocean is warming and acidifying, increasing the risk of mass mortality events for temperature-sensitive shellfish such as oysters. This motivates the development of long-term monitoring systems. However, human labor is costly and…
Effective conservation actions require effective population monitoring. However, accurately counting animals in the wild to inform conservation decision-making is difficult. Monitoring populations through image sampling has made data…
Coral reefs are vital for marine biodiversity, coastal protection, and supporting human livelihoods globally. However, they are increasingly threatened by mass bleaching events, pollution, and unsustainable practices with the advent of…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…
Coral bleaching is a major concern for marine ecosystems; more than half of the world's coral reefs have either bleached or died over the past three decades. Increasing sea surface temperatures, along with various spatiotemporal…
Parkour presents a highly challenging task for legged robots, requiring them to traverse various terrains with agile and smooth locomotion. This necessitates comprehensive understanding of both the robot's own state and the surrounding…
In marine aquaculture, inspecting sea cages is an essential activity for managing both the facilities' environmental impact and the quality of the fish development process. Fish escape from fish farms into the open sea due to net damage,…
This paper presents a method for cave surveying in total darkness using an autonomous aerial vehicle equipped with a depth camera for mapping, downward-facing camera for state estimation, and forward and downward lights. Traditional methods…
Bionic underwater robots have demonstrated their superiority in many applications. Yet, training their intelligence for a variety of tasks that mimic the behavior of underwater creatures poses a number of challenges in practice, mainly due…
This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…
Underwater radiated noise from vessels (V-URN) is a recognized environmental stressor that negatively impacts marine ecosystems. Significant resources are invested in the development of V-URN monitoring indicators, regulatory frameworks,…
Cyborg insects refer to hybrid robots that integrate living insects with miniature electronic controllers to enable robotic-like programmable control. These creatures exhibit advantages over conventional robots in adaption to complex…
Monitoring coral reefs using underwater vehicles increases the range of marine surveys and availability of historical ecological data by collecting significant quantities of images. Analysis of this imagery can be automated using a model…
Robotics has dramatically increased our ability to gather data about our environments, creating an opportunity for the robotics and algorithms communities to collaborate on novel solutions to environmental monitoring problems. To understand…
Human-guided robotic exploration is a useful approach to gathering information at remote locations, especially those that might be too risky, inhospitable, or inaccessible for humans. Maintaining common ground between the remotely-located…
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute…
Robotic systems are typically composed of various subsystems, such as localization and navigation, each encompassing numerous configurable components (e.g., selecting different planning algorithms). Once an algorithm has been selected for a…