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Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest.…
This paper proposes RUR53: an Unmanned Ground Vehicle able to autonomously navigate through, identify, and reach areas of interest; and there recognize, localize, and manipulate work tools to perform complex manipulation tasks. The proposed…
Underwater pollution is one of today's most significant environmental concerns, with vast volumes of garbage found in seas, rivers, and landscapes around the world. Accurate detection of these waste materials is crucial for successful waste…
We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
Underwater environments pose unique challenges for robotic navigation and manipulation. While existing research has primarily focused on task-specific methods, studies on general-purpose intelligence for multi-task execution remain scarce.…
In this letter, we propose a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses measurement from LiDAR, inertial sensor, and visual camera to achieve robust and accurate state estimation. Our proposed framework is…
The last decade has witnessed increasing worldwide interest in the research of underwater robotics with particular focus on the area of autonomous underwater vehicles (AUVs). The underwater robotics technology has enabled human to access…
In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…
A Markov decision process-based state switching is devised, implemented, and analyzed for proximity operations of various autonomous vehicles. The framework contains a pose estimator along with a multi-state guidance algorithm. The unified…
Publicly available satellite imagery can be an ubiquitous, cheap, and powerful tool for vehicle localisation when a prior sensor map is unavailable. However, satellite images are not directly comparable to data from ground range sensors…
In this paper we show the application of the new robotic multi-platform system HSURF to a specific use case of teleoperation, aimed at monitoring and inspection. The HSURF system, consists of 3 different kinds of platforms: floater, sinker…
With the advancement of maritime unmanned aerial vehicles (UAVs) and deep learning technologies, the application of UAV-based object detection has become increasingly significant in the fields of maritime industry and ocean engineering.…
Underwater object detection (UOD), aiming to identify and localise the objects in underwater images or videos, presents significant challenges due to the optical distortion, water turbidity, and changing illumination in underwater scenes.…
We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to…
This paper presents the portable autonomous probing system (APS), a low-cost robotic design for collecting water quality measurements at targeted depths from an autonomous surface vehicle (ASV). This system fills an important but often…
Rover localization is one of the perquisites for large scale rover exploration. In NASA's Mars 2020 mission, the Ingenuity helicopter is carried together with the rover, which is capable of obtaining high-resolution imagery of Mars terrain,…