Related papers: Laboratory test results underwater navigation syst…
We consider two nonlinear state estimation problems in a setting where an extended Kalman filter receives measurements from two sets of sensors via two channels (2C). In the stochastic-2C problem, the channels drop measurements…
The performance of a guidance, navigation and control (GNC) system of an autonomous underwater vehicle (AUV) heavily depends on the correct tuning of its parameters. Our objective is to automatically tune these parameters with respect to…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…
Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in…
We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…
With fluid antenna system (FAS) gradually establishing itself as a possible enabling technology for next generation wireless communications, channel estimation for FAS has become a pressing issue. Existing methodologies however face…
Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…
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…
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…
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…
This paper investigates using satellite data to improve adaptive sampling missions, particularly for front tracking scenarios such as with algal blooms. Our proposed solution to find and track algal bloom fronts uses an Autonomous…
An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…
This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…
Unmanned Surface Vehicles (USVs) are pivotal in marine exploration, but their sensors' accuracy is compromised by the dynamic marine environment. Traditional calibration methods fall short in these conditions. This paper introduces a deep…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
Spurious numerical mixing is a frequent phenomenon in ocean models. In this paper, we present an efficient and robust methodology that defines the vertical grid motion so that this mixing is reduced. This motion is defined as the solution…