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Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
This paper proposes a novel cooperative system for an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which utilizes the UAV not only as a flying sensor but also as a tether attachment device. Two robots are connected…
This article presents experimental and numerical studies on the effect of free stream turbulence on evolution of flow over an autonomous underwater vehicle (AUV) hull form at three Reynolds numbers with different submergence depths and…
This paper introduces an innovative drone carrier concept that is applied in maritime port security or offshore rescue. This system works with a heterogeneous system consisting of multiple Unmanned Aerial Vehicles (UAVs) and Unmanned…
We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…
Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…
Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…
Deep Reinforcement Learning (Deep-RL) techniques for motion control have been continuously used to deal with decision-making problems for a wide variety of robots. Previous works showed that Deep-RL can be applied to perform mapless…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
The exploration of under-ice environments presents unique challenges due to limited access for scientific research. This report investigates the potential of deploying a fully actuated Remotely Operated Vehicle (ROV) for shallow area…
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…
Previous works showed that Deep-RL can be applied to perform mapless navigation, including the medium transition of Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs). This paper presents new approaches based on the state-of-the-art…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…
This paper describes the design of a miniature uncrewed underwater vehicle (MiniUUV) and related instrumentation for indoor experimentation. The MiniUUV was developed using 3D printed components and low-cost, off-the-shelf electronics. The…
Regular inspections are crucial to maintaining waste-water pipelines in good condition. The challenge is that inside a pipeline the space is narrow and may have a complex structure. The conventional methods that use pipe robots with heavy…
This paper presents a system for mission planning for an autonomous underwater vehicle in time-varying ocean currents. The mission planning system is designed for the AUV "SLOCUM Glider" to collect oceanographic data along the Newfoundland…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
The widespread use of unmanned aerial vehicles (UAVs) by the military, commercial companies, and academia continues to push research for autonomous vehicle navigation, particularly in varying environmental conditions and…