Related papers: Intelligent Sailing Model for Open Sea Navigation
Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…
By building and updating internal cognitive maps, animals exhibit extraordinary navigation abilities in complex, dynamic environments. Inspired by these biological mechanisms, we present a real time robotic navigation system grounded in the…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simulations offer a cost-effective alternative and eliminate…
As autonomous driving systems mature, motion forecasting has received increasing attention as a critical requirement for planning. Of particular importance are interactive situations such as merges, unprotected turns, etc., where predicting…
Social navigation research is performed on a variety of robotic platforms, scenarios, and environments. Making comparisons between navigation algorithms is challenging because of the effort involved in building these systems and the…
Vision-Language Models (VLMs) have been increasingly integrated into object navigation tasks for their rich prior knowledge and strong reasoning abilities. However, applying VLMs to navigation poses two key challenges: effectively…
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…
Semantic navigation is the navigation paradigm in which environmental semantic concepts and their relationships are taken into account to plan the route of a mobile robot. This paradigm facilitates the interaction with humans and the…
Stacked intelligent metasurfaces (SIMs) extend the concept of reconfigurable intelligent surfaces by cascading multiple programmable layers, enabling advanced electromagnetic wave transformations for communication and sensing applications.…
Traffic simulation, complementing real-world data with a long-tail distribution, allows for effective evaluation and enhancement of the ability of autonomous vehicles to handle accident-prone scenarios. Simulating such safety-critical…
Navigation is a fundamental skill of agents with visual-motor capabilities. We introduce a Navigation World Model (NWM), a controllable video generation model that predicts future visual observations based on past observations and…
Large Language Models (LLMs) have demonstrated substantial potential in addressing complex reasoning tasks, yet their general-purpose nature often limits their effectiveness in specialized domains such as maritime navigation. To bridge this…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
This study presents a machine learning approach to predict the number of barges transported by vessels on inland waterways using tracking data from the Automatic Identification System (AIS). While AIS tracks the location of tug and tow…
The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal…
This paper introduces the Maritime Ship Navigation Behavior Dataset (MID), designed to address challenges in ship detection within complex maritime environments using Oriented Bounding Boxes (OBB). MID contains 5,673 images with 135,884…
The energy of ocean waves is the key distinguishing factor of marine environments compared to other aquatic environments such as lakes and rivers. Waves significantly affect the dynamics of marine vehicles; hence it is imperative to…
Ocean modeling is a powerful tool for simulating the physical, chemical, and biological processes of the ocean, which is the foundation for marine science research and operational oceanography. Modern numerical ocean modeling mainly…
Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…