Related papers: Supervised Visual Docking Network for Unmanned Sur…
Reliable pipeline inspection is critical to safe energy transportation, but is constrained by long distances, complex terrain, and risks to human inspectors. Unmanned aerial vehicles provide a flexible sensing platform, yet reliable…
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…
Landing a multirotor unmanned aerial vehicle (UAV) on an uncrewed surface vessel (USV) extends the operational range and offers recharging capabilities for maritime and limnology applications, such as search-and-rescue and environmental…
Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…
Unmanned surface vehicles (USVs) have great value with their ability to execute hazardous and time-consuming missions over water surfaces. Recently, USVs for inland waterways have attracted increasing attention for their potential…
For an autonomous surface vessel (ASV) to dock, it must track other vessels close to the docking area. Kayaks present a particular challenge due to their proximity to the dock and relatively small size. Maritime target tracking has…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…
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…
Automatic docking has long been a significant challenge in the field of mobile robotics. Compared to other automatic docking methods, visual docking methods offer higher precision and lower deployment costs, making them an efficient and…
Autonomous docking remains one of the most challenging maneuvers in marine robotics, requiring precise control and robust perception in confined spaces. This paper presents a novel approach integrating Model Predictive Path Integral(MPPI)…
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…
Within the next several years, there will be a high level of autonomous technology that will be available for widespread use, which will reduce labor costs, increase safety, save energy, enable difficult unmanned tasks in harsh…
In recent years, Unmanned Surface Vehicles (USV) have been extensively deployed for maritime applications. However, USV has a limited detection range with sensor installed at the same elevation with the targets. In this research, we propose…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…
This paper presents a novel approach to the design of globally asymptotically stable (GAS) position filters for Autonomous Underwater Vehicles (AUVs) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL) and a…
Autonomous underwater vehicles (AUVs) are essential for various applications, including oceanographic surveys, underwater mapping, and infrastructure inspections. Accurate and robust navigation are critical to completing these tasks. To…
Learning visual features from unlabeled images has proven successful for semantic categorization, often by mapping different $views$ of the same object to the same feature to achieve recognition invariance. However, visual recognition…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
Service robots have demonstrated significant potential for autonomous trolley collection and redistribution in public spaces like airports or warehouses to improve efficiency and reduce cost. Usually, a fully autonomous system for the…