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In this paper, we validate the performance of the a sensor fusion-based Global Navigation Satellite System (GNSS) spoofing attack detection framework for Autonomous Vehicles (AVs). To collect data, a vehicle equipped with a GNSS receiver,…

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.…

The aim of this paper is to propose a high performance control approach for trajectory tracking of Autonomous Underwater Vehicles (AUVs). However, the controller performance can be affected by the unknown perturbations including model…

This paper presents UnderwaterVLA, a novel framework for autonomous underwater navigation that integrates multimodal foundation models with embodied intelligence systems. Underwater operations remain difficult due to hydrodynamic…

Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…

We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…

An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observation and navigation history to predict the most appropriate…

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…

A practical method for identifying the propeller model and inertia matrix of a marine Autonomous Surface Vehicle (ASV) is proposed in this work. Special attention is paid to limiting the instrumentation requirements. Based on a generic…

In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of model-based…

Object tracking in inland waterways plays a crucial role in safe and cost-effective applications, including waterborne transportation, sightseeing tours, environmental monitoring and surface rescue. Our Unmanned Surface Vehicle (USV),…

Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…

This paper presents a comprehensive review of recent advancements in image processing and deep learning techniques for pavement distress detection and classification, a critical aspect in modern pavement management systems. The conventional…

Visual-inertial odometry (VIO) is widely used for mobile robot localization, but its long-term accuracy degrades without global constraints. Incorporating ranging sensors such as ultra-wideband (UWB) can mitigate drift; however,…

Underwater vehicles have emerged as a critical technology for exploring and monitoring aquatic environments. The deployment of multi-vehicle systems has gained substantial interest due to their capability to perform collaborative tasks with…

The Linear Parameter Varying Dynamical System (LPV-DS) is an effective approach that learns stable, time-invariant motion policies using statistical modeling and semi-definite optimization to encode complex motions for reactive robot…

Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (\eg surveillance, inspection, and search-and-rescue) require…

Marine pollution is a growing worldwide concern, affecting health of marine ecosystems, human health, climate change, and weather patterns. To reduce underwater pollution, it is critical to have access to accurate information about the…

Unmanned aerial vehicle (UAV) detection and aerial object recognition are critical for modern surveillance and security, prompting a need for robust systems that overcome limitations of single-modality approaches. This research addresses…

The development of the low-altitude economy has led to a growing prominence of uncrewed aerial vehicle (UAV) safety management issues. Therefore, accurate identification, real-time localization, and effective countermeasures have become…