Related papers: Modularis: Modular Underwater Robot for Rapid Deve…
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…
Safety-critical Autonomous Systems require trustworthy and transparent decision-making process to be deployable in the real world. The advancement of Machine Learning introduces high performance but largely through black-box algorithms. We…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular momentum and passive flippers to convert the motion of a single…
Reinforcement learning-based quadruped robots excel across various terrains but still lack the ability to swim in water due to the complex underwater environment. This paper presents the development and evaluation of a data-driven…
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of…
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…
Testing marine robotics systems in controlled environments before field tests is challenging, especially when acoustic-based sensors and control surfaces only function properly underwater. Deploying robots in indoor tanks and pools often…
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 Robots (AURs) operate in challenging underwater environments, including low visibility and harsh water conditions. Such conditions present challenges for software engineers developing perception modules for the AUR…
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…
The Michigan Robotics MBot is a low-cost mobile robot platform that has been used to train over 1,400 students in autonomous navigation since 2014 at the University of Michigan and our collaborating colleges. The MBot platform was designed…
This paper presents Low-cost Marine Autonomous Robotic Vehicle Explorer (Lo-MARVE), a novel autonomous underwater vehicle (AUV) designed to provide a low cost solution for underwater exploration and environmental monitoring in shallow water…
This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
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,…
Autonomous planetary vehicles, also known as rovers, are small autonomous vehicles equipped with a variety of sensors used to perform exploration and experiments on a planet's surface. Rovers work in a partially unknown environment, with…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…