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We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…
Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of…
Autonomous driving vehicles provide a vast potential for realizing use cases in the on-road and off-road domains. Consequently, remarkable solutions exist to autonomous systems' environmental perception and control. Nevertheless, proof of…
In this paper, we present an underactuated biomimetic underwater robot that is suitable for ecosystem monitoring in both marine and freshwater environments. We present an updated mechanical design for a fish-like robot and propose minimal…
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…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
Autonomous robots used in infrastructure inspection, space exploration and other critical missions operate in highly dynamic environments. As such, they must continually verify their ability to complete the tasks associated with these…
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…
Enabling autonomous robots to safely and efficiently navigate, explore, and map underwater caves is of significant importance to water resource management, hydrogeology, archaeology, and marine robotics. In this work, we demonstrate the…
Recently, reinforcement learning (RL) has been extensively studied and achieved promising results in a wide range of control tasks. Meanwhile, autonomous underwater vehicle (AUV) is an important tool for executing complex and challenging…
Road condition is an important environmental factor for autonomous vehicle control. A dramatic change in the road condition from the nominal status is a source of uncertainty that can lead to a system failure. Once the vehicle encounters an…
Testing and evaluation are expensive but critical steps in the development of connected and automated vehicles (CAVs). In this paper, we develop an adaptive sampling framework to efficiently evaluate the accident rate of CAVs, particularly…
Formal verification of agents representing robot behaviour is a growing area due to the demand that autonomous systems have to be proven safe. In this paper we present an abstract definition of autonomy which can be used to model autonomous…
Advances in machine learning methods for computer vision tasks have led to their consideration for safety-critical applications like autonomous driving. However, effectively integrating these methods into the automotive development…
Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for different types of industrial applications. The generally high cost of (AUVs) restricts the access to them and therefore advances in research and technological…
Autonomous robots need to be able to handle uncertainties when deployed in the real world. For the robot to be able to robustly work in such an environment, it needs to be able to adapt both its architecture as well as its task plan.…
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…
This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot…
Using autonomous underwater vehicles, or AUVs, has completely changed how we gather data from the ocean floor. AUV innovation has advanced significantly, especially in the analysis of images, due to the increasing need for accurate and…