Related papers: A BlueROV2-based platform for underwater mapping e…
Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a…
In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an…
Water quality mapping for critical parameters such as temperature, salinity, and turbidity is crucial for assessing an aquaculture farm's health and yield capacity. Traditional approaches involve using boats or human divers, which are…
Autonomously controlling the position of Remotely Operated underwater Vehicles (ROVs) is of crucial importance for a wide range of underwater engineering applications, such as in the inspection and maintenance of underwater industrial…
Our understanding of the oceans remains limited by sparse and infrequent observations, primarily because current methods are constrained by the high cost and logistical effort of underwater monitoring, relying either on sporadic surveys…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…
Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a…
Autonomous navigation in underwater environments remains a major challenge due to the absence of GPS, degraded visibility, and the presence of submerged obstacles. This article investigates these issues through the case of the BlueROV2, an…
Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
Testing marine robotics systems in controlled environments before field tests is challenging, especially when acoustic-based sensors and control surfaces only function properly underwater. Deploying robots in indoor tanks and pools often…
Significant work has been done on advancing localization and mapping in underwater environments. Still, state-of-the-art methods are challenged by low-texture environments, which is common for underwater settings. This makes it difficult to…
High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…
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…
Autonomous underwater robots typically require higher cost and time for demonstrations compared to other domains due to the complexity of the environment. Due to the limited capacity and payload flexibility, it is challenging to find…