Related papers: Collaborative Aquatic Positioning System Utilising…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
Detection of undersea threats is a complex problem of considerable importance for maritime regional surveillance and security. Multistatic sonar systems can provide a means to monitor for underwater threats, where fixed sensors, towed…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
Bearing only cooperative localization has been used successfully on aerial and ground vehicles. In this paper we present an extension of the approach to the underwater domain. The focus is on adapting the technique to handle the challenging…
In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…
Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…
Underwater sensor networks are anticipated to facilitate numerous commercial and military applications. Moreover, precise self-localization in practical underwater scenario is a crucial challenge in sensor networks because of the complexity…
Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…
In the past decade, although single-robot perception has made significant advancements, the exploration of multi-robot collaborative perception remains largely unexplored. This involves fusing compressed, intermittent, limited,…
Underwater vehicles have emerged as a critical technology for exploring and monitoring aquatic environments. The deployment of multi-vehicle systems has gained substantial interest due to their capability to perform collaborative tasks with…
This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
Ultra-wideband technology has emerged in recent years as a robust solution for localization in GNSS denied environments. In particular, its high accuracy when compared to other wireless localization solutions is enabling a wider range of…
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,…
Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…