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Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (\eg surveillance, inspection, and search-and-rescue) require…
There has been a growing interest in extending the capabilities of autonomous underwater vehicles (AUVs) in subsea missions, particularly in integrating underwater human-robot interaction (UHRI) for control. UHRI and its subfield,underwater…
Many underwater tasks, such as cable-and-wreckage inspection and search-and-rescue, can benefit from robust Human-Robot Interaction (HRI) capabilities. With the recent advancements in vision-based underwater HRI methods, Autonomous…
Recent advances in efficient design, perception algorithms, and computing hardware have made it possible to create improved human-robot interaction (HRI) capabilities for autonomous underwater vehicles (AUVs). To conduct secure missions as…
In this article we present a novel underwater dataset collected from several field trials within the EU FP7 project "Cognitive autonomous diving buddy (CADDY)", where an Autonomous Underwater Vehicle (AUV) was used to interact with divers…
This paper presents a deep-learned facial recognition method for underwater robots to identify scuba divers. Specifically, the proposed method is able to recognize divers underwater with faces heavily obscured by scuba masks and breathing…
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 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…
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…
Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…
Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…
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…
Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…
We propose a robust gesture-based communication pipeline for divers to instruct an Autonomous Underwater Vehicle (AUV) to assist them in performing high-risk tasks and helping in case of emergency. A gesture communication language (CADDIAN)…
Coral reefs are fast-changing and complex ecosystems that are crucial to monitor and study. Biological hotspot detection can help coral reef managers prioritize limited resources for monitoring and intervention tasks. Here, we explore the…
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…
This paper presents a scalable acoustic navigation approach for the unified command, control and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually, by…
As underwater human activities are increasing, the demand for underwater communication service presents a significant challenge. Existing underwater diver communication methods face hurdles due to inherent disadvantages and complex…
This paper presents Diver Interest via Pointing in Three Dimensions (DIP-3D), a method to relay an object of interest from a diver to an autonomous underwater vehicle (AUV) by pointing that includes three-dimensional distance information to…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…