Related papers: Use of a low-cost forward-looking sonar for collis…
We seek to rigorously evaluate the benefit of using a few beams rather than a single beam for a low-cost obstacle avoidance sonar for small AUVs. For a small low-cost AUV, the complexity, cost, and volume required for a multi-beam forward…
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…
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…
Autonomous Underwater Vehicles (AUVs) have advanced significantly in obstacle detection and path planning through sonar, cameras, and learning-based methods. However, safe and efficient navigation in cluttered environments remains…
A collision avoidance system based on simple digital cameras would help enable the safe integration of small UAVs into crowded, low-altitude environments. In this work, we present an obstacle avoidance system for small UAVs that uses a…
This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…
In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
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…
In this paper, we propose a collision avoidance safety filter for autonomous electric scooters to enable safe operation of such vehicles in pedestrian areas. In particular, we employ multiple low-cost ultrasonic sensors to detect a wide…
Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-Mission…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
A cooperative Sense and Avoid (SAA) algorithm for safe navigation of small-sized UAVs within an airspace is proposed in this paper. The proposed method relies upon cooperation between the UAV and the surrounding transponder-equipped…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…
This paper presents preliminary results towards the development of an autonomous ocean observing system using Miniature Underwater Gliders (MUGs) that can operate with the support of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface…
We present a safety-oriented framework for autonomous underwater vehicles (AUVs) that improves localization accuracy, enhances trajectory prediction, and supports efficient search operations during communication loss. Acoustic signals…
This study presents acoustic-based methods for the control of multiple autonomous underwater vehicles (AUV). This study proposes two different models for implementing boundary and path control on low-cost AUVs using acoustic communication…
Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…
Commercial operation of unmanned aerial vehicles (UAVs) would benefit from an onboard ability to sense and avoid (SAA) potential mid-air collision threats. In this paper we present a new approach for detection of aircraft below the horizon.…