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Artificial Water Bodies (AWBs) are human-made and require continuous monitoring due to their artificial biological processes. These systems necessitate regular maintenance to manage their ecosystems effectively. Unmanned Surface Vehicle…
The underwater world remains largely unexplored, with Autonomous Underwater Vehicles (AUVs) playing a crucial role in sub-sea explorations. However, continuous monitoring of underwater environments using AUVs can generate a significant…
Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality…
Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…
This paper studies an optimal autonomous underwater vehicule (AUV) path planning method for both reducing average delay before pollutants detection in underwater mining, oil or gas fields and reducing AUV occupancy time. The proposed…
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…
This study investigates the efficiency and safety outcomes of implementing different adaptive coordination models for automated vehicle (AV) fleets, managed by a centralized coordinator that dynamically responds to human-controlled vehicle…
Cooperating autonomous underwater vehicles (AUVs) often rely on acoustic communication to coordinate their actions effectively. However, the reliability of underwater acoustic communication decreases as the communication range between…
Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…
This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…
An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to…
Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…
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…
This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characterized by large waves. This onboard UAV system aims to enhance…
This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We…
Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…
Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this…
Traditional sea exploration faces significant challenges due to extreme conditions, limited visibility, and high costs, resulting in vast unexplored ocean regions. This paper presents an innovative AI-powered Autonomous Underwater Vehicle…
An unmanned autonomous vehicle (UAV) is sent on a mission to explore and reconstruct an unknown environment from a series of measurements collected by Bayesian optimization. The success of the mission is judged by the UAV's ability to…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…