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Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this…
Underwater Camouflaged Object Detection (UCOD) is a challenging task due to the extreme visual similarity between targets and backgrounds across varying marine depths. Existing methods often struggle with topological fragmentation of…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
Unmanned aerial vehicles (UAV) are commonly used for missions in unknown environments, where an exact mathematical model of the environment may not be available. This paper provides a framework for using reinforcement learning to allow the…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
Autonomous Underwater Vehicle-Manipulator systems (AUVMS) is a new tool for ocean exploration, the AUVMS path planning problem is addressed in this paper. AUVMS is a high dimension system with a large difference in inertia distribution,…
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…
This study presents a simulation model for underwater 6G networks, focusing on the optimized placement of sensors, AUVs, and hubs. The network architecture consists of fixed hub stations, mobile autonomous underwater vehicles (AUVs), and…
Robust constrained formation tracking control of underactuated underwater vehicles (UUVs) fleet in three-dimensional space is a challenging but practical problem. To address this problem, this paper develops a novel consensus based optimal…
Vision-based underwater robots can be useful in inspecting and exploring confined spaces where traditional sensors and preplanned paths cannot be followed. Sensor noise and situational change can cause significant uncertainty in…
Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…
Approximately seventy-one percent of the Earth is covered in water. Of that area, ninety-five percent of the ocean has never been explored or mapped. There are several engineering challenges that have prevented the exploration of the deep…
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…
Underwater robots are subject to position drift due to the effect of ocean currents and the lack of accurate localisation while submerged. We are interested in exploiting such position drift to estimate the ocean current in the surrounding…
The determination of accurate bathymetric information is a key element for near offshore activities, hydrological studies such as coastal engineering applications, sedimentary processes, hydrographic surveying as well as archaeological…
Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturbances such as waves, currents, and turbulence. These unsteady…
This paper presents a novel approach for local 3D environment representation for autonomous unmanned ground vehicle (UGV) navigation called On Visible Point Clouds Mesh(OVPC Mesh). Our approach represents the surrounding of the robot as a…
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…
In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…
Deep learning is an increasingly popular approach for inverting surface wave dispersion curves to obtain Vs profiles. However, its generalizability is constrained by the depth and velocity scales of training data. We propose a unified deep…