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Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
An accurate initial heading angle is essential for efficient and safe navigation across diverse domains. Unlike magnetometers, gyroscopes can provide accurate heading reference independent of the magnetic disturbances in a process known as…
When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…
The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally significant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marine resource…
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.…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…
This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…
Maritime Autonomous Surface Ships (MASS) have emerged as a promising solution to enhance navigational safety, operational efficiency, and long-term cost effectiveness. However, their reliable deployment requires rigorous verification and…
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…
With the expanding application scope of unmanned aerial vehicles (UAVs), the demand for stable UAV control has significantly increased. However, in complex environments, GPS signals are prone to interference, resulting in ineffective UAV…
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…
This study presents a novel environment-aware reinforcement learning (RL) framework designed to augment the operational capabilities of autonomous underwater vehicles (AUVs) in underwater environments. Departing from traditional RL…
The underwater domain presents a vast array of challenges for roboticists and computer vision researchers alike, such as poor lighting conditions and high dynamic range scenes. In these adverse conditions, traditional vision techniques…
Reinforcement Learning (RL) is a promising solution, allowing Unmanned Underwater Vehicles (UUVs) to learn optimal behaviors through trial and error. However, existing simulators lack efficient integration with RL methods, limiting training…
Underwater scenes intrinsically involve degradation problems owing to heterogeneous ocean elements. Prevailing underwater image enhancement (UIE) methods stick to straightforward feature modeling to learn the mapping function, which leads…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
This paper presents a general framework integrating vision and acoustic sensor data to enhance localization and mapping in highly dynamic and complex underwater environments, with a particular focus on fish farming. The proposed pipeline is…
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…
Learning the dynamics of robots from data can help achieve more accurate tracking controllers, or aid their navigation algorithms. However, when the actual dynamics of the robots change due to external conditions, on-line adaptation of…