Related papers: Scalable underwater assembly with reconfigurable v…
Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…
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…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
Planning is hard. The use of subgoals can make planning more tractable, but selecting these subgoals is computationally costly. What algorithms might enable us to reap the benefits of planning using subgoals while minimizing the…
This study introduces a connective model of routing -- local path planning for Autonomous Underwater Vehicle (AUV) time efficient maneuver in long-range operations. Assuming the vehicle operating in a turbulent underwater environment, the…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
As robotics technology advances, dense point cloud maps are increasingly in demand. However, dense reconstruction using a single unmanned aerial vehicle (UAV) suffers from limitations in flight speed and battery power, resulting in slow…
Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…
This paper tackles the problem of positioning a swarm of UAVs inside a completely unknown terrain, having as objective to maximize the overall situational awareness. The situational awareness is expressed by the number and quality of unique…
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…
Positioning of underwater robots in confined and cluttered spaces remains a key challenge for field operations. Existing systems are mostly designed for large, open-water environments and struggle in industrial settings due to poor…
In this paper, we construct an air-sea collaborative system framework based on the Integrated Sensing and Communication (ISAC) techniques, where the Unmanned Aerial Vehicle (UAV) and Unmanned Surface Vehicle (USV) jointly inspect targets of…
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…
This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…
Non-navigable rivers and retention ponds play important roles in buffering communities from flooding, yet emergency planners often have no data as to the volume of water that they can carry before flooding the surrounding. This paper…
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and…