Related papers: SUAVE: An Exemplar for Self-Adaptive Underwater Ve…
We introduce a launch device, called the remotely-enabled modular release mechanism, to augment rapid testing and prototyping of cooperative autonomy maritime applications by facilitating autonomous deployment of an autonomous underwater…
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…
This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…
This paper presents a hybrid route-path planning model for an Autonomous Underwater Vehicle's task assignment and management while the AUV is operating through the variable littoral waters. Several prioritized tasks distributed in a large…
Advances in hardware technology have facilitated more integration of sophisticated software toward augmenting the development of Unmanned Vehicles (UVs) and mitigating constraints for onboard intelligence. As a result, UVs can operate in…
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…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
Advances in hardware technology have enabled more integration of sophisticated software, triggering progress in the development and employment of Unmanned Vehicles (UVs), and mitigating restraints for onboard intelligence. As a result, UVs…
Autonomous Underwater Vehicles (AUVs) are increasingly being used to support scientific research and monitoring studies. One such application is in benthic habitat mapping where these vehicles collect seafloor imagery that complements…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
Adaptive mission control and dynamic parameter reconfiguration are essential for autonomous underwater vehicles (AUVs) operating in GPS-denied, communication-limited marine environments. However, AUV platforms generally execute static,…
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 adapt to changing environments is crucial for the autonomous navigation systems of Unmanned Aerial Vehicles (UAVs). However, existing navigation systems adopt fixed execution configurations without considering environmental…
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…
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…
Today AUVs operation still remains restricted to very particular tasks with low real autonomy due to battery restrictions. Efficient motion planning and mission scheduling are principle requirement toward advance autonomy and facilitate the…
This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…
The increasing use and implementation of Autonomous Surface Vessels (ASVs) for various activities in maritime environments is expected to drive a rise in developments and research on their control. Particularly, the coordination of multiple…
Unmanned Aerial Vehicles (UAVS) are limited by the onboard energy. Refinement of the navigation strategy directly affects both the flight velocity and the trajectory based on the adjustment of key parameters in the UAVS pipeline, thus…