Related papers: Multi-AUV Cooperative Underwater Multi-Target Trac…
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.…
This paper summarizes in depth the state of the art of aerial swarms, covering both classical and new reinforcement-learning-based approaches for their management. Then, it proposes a hybrid AI system, integrating deep reinforcement…
In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
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…
Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…
In the real world, unmanned surface vehicles (USV) often need to coordinate with each other to accomplish specific tasks. However, achieving cooperative control in multi-agent systems is challenging due to issues such as non-stationarity…
An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale…
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…
This paper is devoted to local sensing and communication for collective underwater systems used in networked and swarm modes. It is demonstrated that a specific combination of modal and sub-modal communication, used simultaneously for…
This paper addresses the trajectory planning for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs' trajectory tracking ability and cause obstacle and inter-vehicle collisions. A novel approach based…
To deal with the task assignment problem of multi-AUV systems under kinematic constraints, which means steering capability constraints for underactuated AUVs or other vehicles likely, an improved task assignment algorithm is proposed…
This paper presents a multi-agent reinforcement learning (MARL) framework for cooperative collision avoidance of UAV swarms leveraging domain knowledge-driven reward. The reward is derived from knowledge in the domain of image processing,…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
Autonomous systems (AS) carry out complex missions by continuously observing the state of their surroundings and taking actions toward a goal. Swarms of AS working together can complete missions faster and more effectively than single AS…
In marine surveillance, distinguishing between normal and anomalous vessel movement patterns is critical for identifying potential threats in a timely manner. Once detected, it is important to monitor and track these vessels until a…
This paper investigates the multi-UAV multi-task coordination problem in infrastructure-less emergency scenarios, where UAVs collaboratively are required to jointly perform aerial image acquisition and ground-user communication. To tackle…
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…
Harvesting data from distributed Internet of Things (IoT) devices with multiple autonomous unmanned aerial vehicles (UAVs) is a challenging problem requiring flexible path planning methods. We propose a multi-agent reinforcement learning…