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Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
Maritime Autonomous Surface Ships (MASS) are increasingly regarded as a promising solution to address crew shortages, improve navigational safety, and improve operational efficiency in the maritime industry. Nevertheless, the reliable…
Bird's-Eye-View (BEV) is critical to connected and automated vehicles (CAVs) as it can provide unified and precise representation of vehicular surroundings. However, quality of the raw sensing data may degrade in occluded or distant…
In order to advance underwater computer vision and robotics from lab environments and clear water scenarios to the deep dark ocean or murky coastal waters, representative benchmarks and realistic datasets with ground truth information are…
Tracking multiple moving objects in real-time in a dynamic threat environment is an important element in national security and surveillance system. It helps pinpoint and distinguish potential candidates posing threats from other normal…
This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…
Lifelong embodied navigation requires agents to accumulate, retain, and exploit spatial-semantic experience across tasks, enabling efficient exploration in novel environments and rapid goal reaching in familiar ones. While object-centric…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually,…
Cross reality integration of simulation and physical robots is a promising approach for multi-robot operations in contested environments, where communication may be intermittent, interference may be present, and observability may be…
This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range…
It is significant to employ multiple autonomous underwater vehicles (AUVs) to execute the underwater target tracking task collaboratively. However, it's pretty challenging to meet various prerequisites utilizing traditional control methods.…
Autonomous driving (AD) systems relying solely on onboard sensors may fail to detect distant or obstacle hazards, potentially causing preventable collisions; however, existing transformer-based Vehicle-to-Everything (V2X) approaches, which…
We introduce a multi-sensor navigation system for autonomous surface vessels (ASV) intended for water-quality monitoring in freshwater lakes. Our mission planner uses satellite imagery as a prior map, formulating offline a mission-level…
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…
This paper presents a novel end-to-end Unmanned Aerial System (UAS) navigation approach for long-range visual navigation in the real world. Inspired by dual-process visual navigation system of human's instinct: environment understanding and…
The problem of navigating a formation of interconnected tethered drones, named STEM (System of TEthered Multicopters), in an unknown environment is considered. The tethers feed electrical power from a ground station to the drones and also…