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In this paper, we present a number of robust methodologies for an underwater robot to visually detect, follow, and interact with a diver for collaborative task execution. We design and develop two autonomous diver-following algorithms, the…
The speed of response by search and rescue teams at sea is of vital importance, as survival may depend on it. Recent technological advancements have led to the development of more efficient systems for locating individuals involved in a…
Advances in hardware technology have facilitated more integration of sophisticated software toward augmenting the development of Unmanned Vehicles (UVs) and mitigating constraints for onboard intelligence. As a result, UVs can operate in…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…
This paper investigates underwater cooperative target detection using autonomous underwater vehicles (AUVs), with a focus on the critical trade-off between cooperation efficiency and communication covertness. To tackle this challenge, we…
This paper develops a novel unmanned surface vehicle (USV)-autonomous underwater vehicle (AUV) collaborative system designed to enhance underwater task performance in extreme sea conditions. The system integrates a dual strategy: (1)…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
A new obstacle detection algorithm for unmanned surface vehicles (USVs) is presented. A state-of-the-art graphical model for semantic segmentation is extended to incorporate boat pitch and roll measurements from the on-board inertial…
This paper pioneers the field of multi-user holographic unmanned aerial vehicle (UAV) communications, laying a solid foundation for future innovations in next-generation aerial wireless networks. The study focuses on the challenging problem…
In this paper we present an autonomous system for acquiring close-range high-resolution images that maximize the quality of a later-on 3D reconstruction with respect to coverage, ground resolution and 3D uncertainty. In contrast to previous…
In this study, we conduct a comprehensive benchmark of the Safe Reinforcement Learning (Safe RL) algorithms for the task of vision-driven river following of Unmanned Aerial Vehicle (UAV) in a Unity-based photo-realistic simulation…
In recent years, unmanned aerial vehicles (UAVs) have been considered for telecommunications purposes as relays, caches, or IoT data collectors. In addition to being easy to deploy, their maneuverability allows them to adjust their location…
Underwater stereo depth estimation provides accurate 3D geometry for robotics tasks such as navigation, inspection, and mapping, offering metric depth from low-cost passive cameras while avoiding the scale ambiguity of monocular methods.…
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…
Traditional sea exploration faces significant challenges due to extreme conditions, limited visibility, and high costs, resulting in vast unexplored ocean regions. This paper presents an innovative AI-powered Autonomous Underwater Vehicle…
In recent years, the demand for social robots has grown, requiring them to adapt their behaviors based on users' states. Accurately assessing user experience (UX) in human-robot interaction (HRI) is crucial for achieving this adaptability.…
Autonomously controlling the position of Remotely Operated underwater Vehicles (ROVs) is of crucial importance for a wide range of underwater engineering applications, such as in the inspection and maintenance of underwater industrial…
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…