Related papers: A multi-objective optimization framework for reduc…
We present a novel MUTE-DSS, a digital-twin-based decision support system for minimizing underwater radiated noise (URN) during ship voyage planning. It is a ROS2-centric framework that integrates state-of-the-art acoustic models combining…
To reduce carbon emissions and minimize shipping costs, improving the fuel efficiency of ships is crucial. Various measures are taken to reduce the total fuel consumption of ships, including optimizing vessel parameters and selecting routes…
The robustness of Unmanned Surface Vehicles (USV) is crucial when facing unknown and complex marine environments, especially when heteroscedastic observational noise poses significant challenges to sensor-based navigation tasks. Recently,…
Navigating toward a known target in a noisy environment is a fundamental problem shared across biological, physical, and engineered systems. Although optimal strategies are often framed in terms of continuous, fine-grained feedback, we show…
Robots deployed in unstructured human environments must frequently execute long-horizon missions, such as find the mug, then the chair, then the printer, under strict operational constraints. While contemporary zero-shot Object Navigation…
Unmanned aerial vehicles (UAVs) have been attracting significant attention because there is a high probability of line-of-sight links being obtained between them and terrestrial nodes in high-rise urban areas. In this work, we investigate…
In this article, we present the development of a two-step optimization framework to deal with the design and selection of aircraft departure routes and the allocation of flights among these routes. The aim of the framework is to minimize…
This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environments. While existing methods often rely on local heuristics,…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…
Underwater radiated noise from vessels (V-URN) is a recognized environmental stressor that negatively impacts marine ecosystems. Significant resources are invested in the development of V-URN monitoring indicators, regulatory frameworks,…
Optimization of ship routing depends on several parameters, like ship and cargo characteristics, environmental factors, topography, international navigation rules, crew comfort etc. The complex nature of the problem leads to…
Multi-robot mapping with neural implicit representations enables the compact reconstruction of complex environments. However, it demands robustness against communication challenges like packet loss and limited bandwidth. While prior works…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
This study presents a bio inspired signal processing framework for robust Underwater Acoustic Target Recognition (UATR). The latest state of the art methods often fail to resolve dense low frequency harmonic structures in vessel propulsion…
To eliminate the effect of ocean currents when addressing the optimal path in the underwater environment, an intelligent algorithm designed for the unmanned underwater vehicle (UUV) is proposed in this paper. The algorithm consists of two…
Routing-driven timely data collection in Underwater Acoustic Sensor Networks (UASNs) is crucial for marine environmental monitoring, disaster warning and underwater resource exploration, etc. However, harsh underwater conditions, including…
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…
This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing…
The significance of transportation efficiency, safety, and related services is increasing in urban vehicular networks. Within such networks, roadside units (RSUs) serve as intermediates in facilitating communication. Therefore, the…
Typical marine environments are highly complex with spatio-temporally varying currents and dynamic obstacles, presenting significant challenges to Unmanned Surface Vehicles (USVs) for safe and efficient navigation. Thus, the USVs need to…