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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…
In autonomous underwater missions, the successful completion of predefined paths mainly depends on the ability of underwater vehicles to recognise their surroundings. In this study, we apply the concept of Fast Interval Type-2 Fuzzy Extreme…
Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…
This paper presents a novel autonomous surface vessel (ASV), called Roboat II for urban transportation. Roboat II is capable of accurate simultaneous localization and mapping (SLAM), receding horizon tracking control and estimation, and…
This paper presents an evaluation of a number of probabilistic algorithms for localization of autonomous underwater vehicles (AUVs) using bathymetry data. The algorithms, based on the principles of the Bayes filter, work by fusing…
We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…
Underwater robotics is becoming increasingly important for marine science, environmental monitoring, and subsea industrial operations, yet the development of underwater manipulation and actuation systems remains restricted by high costs,…
We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…
This paper presents Low-cost Marine Autonomous Robotic Vehicle Explorer (Lo-MARVE), a novel autonomous underwater vehicle (AUV) designed to provide a low cost solution for underwater exploration and environmental monitoring in shallow water…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
Positioning of underwater robots in confined and cluttered spaces remains a key challenge for field operations. Existing systems are mostly designed for large, open-water environments and struggle in industrial settings due to poor…
The ROS 2 Navigation Stack (Nav2) has emerged as a widely used software component providing the underlying basis to develop a variety of high-level functionalities. However, when used in outdoor environments such as orchards and vineyards,…
In this report, we present the system design, operational strategy, and results of coordinated multi-vehicle field demonstrations of autonomous marine robotic technologies in search-for-life missions within the Pacific shelf margin of Costa…
Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This…
The complex marine environment exacerbates the challenges of object detection manifold. Marine trash endangers the aquatic ecosystem, presenting a persistent challenge. Accurate detection of marine deposits is crucial for mitigating this…
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…
The current approach to exploring and monitoring complex underwater ecosystems, such as coral reefs, is to conduct surveys using diver-held or static cameras, or deploying sensor buoys. These approaches often fail to capture the full…
In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous robots localizing themselves in a communication-constrained…