Related papers: Laboratory test results underwater navigation syst…
One of the core advantages of SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. In the previous paper, the theoretical analysis of autonomy property of navigation model in inertial, earth and…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…
In this paper, we present a new ensemble-based filter method by reconstructing the analysis step of the particle filter through a transport map, which directly transports prior particles to posterior particles. The transport map is…
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…
Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…
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…
Classic vision-based navigation solutions, which are utilized in algorithms such as Simultaneous Localization and Mapping (SLAM), usually fail to work underwater when the water is murky and the quality of the recorded images is low. That is…
Key challenges in developing underwater acoustic localization methods are related to the combined effects of high reverberation in intricate environments. To address such challenges, recent studies have shown that with a properly designed…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Understanding local currents in the North Atlantic region of the ocean is a key part of modelling heat transfer and global climate patterns. Satellites provide a surface signature of the temperature of the ocean with a high horizontal…
An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…
Uncertainty quantification methods are required in autonomous systems that include deep learning (DL) components to assess the confidence of their estimations. However, to successfully deploy DL components in safety-critical autonomous…
Randomized artificial neural networks such as extreme learning machines provide an attractive and efficient method for supervised learning under limited computing ressources and green machine learning. This especially applies when equipping…
This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characterized by large waves. This onboard UAV system aims to enhance…
We introduce local matching stability and furthest matchable frame as quantitative measures for evaluating the success of underwater image enhancement. This enhancement process addresses visual degradation caused by light absorption,…
Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…
Stability tests based on the Allan variance method have become a standard procedure for the evaluation of the quality of radio-astronomical instrumentation. They are very simple and simulate the situation when detecting weak signals buried…
This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A…
Various animals exhibit accurate navigation using environment cues. The Earth's magnetic field has been proved a reliable information source in long-distance fauna migration. Inspired by animal navigation, this work proposes a bionic and…