Related papers: Glider Path Design and Control for Reconstructing …
Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…
Underwater gliders (UGs) have emerged as highly effective unmanned vehicles for ocean exploration. However, their operation in dynamic and complex underwater environments necessitates robust path-planning strategies. Previous studies have…
Estimating ocean flow fields in 3D is a critical step in enabling the reliable operation of underwater gliders and other small, low-powered autonomous marine vehicles. Existing methods produce depth-averaged 2D layers arranged at discrete…
This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…
We present a method for reconstructing two-dimensional velocity fields at specified length scales using observational data from tracer particles in a flow, without the need for interpolation or smoothing. The algorithm, adapted from…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
Underwater gliders are increasingly deployed in challenging missions - such as hurricane-season observations and long-endurance environmental monitoring - where strong currents and turbulence pose significant risks to navigation safety. To…
Underwater glider robots have become indispensable for ocean sampling, yet fully autonomous long-term operation remains rare in practice. Although stakeholders are calling for tools to manage increasingly large fleets of gliders, existing…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
Ocean mesoscale eddies can be thought of as the "weather" of the ocean and strongly influence the ocean's physics, chemistry, and biology; they influence other components of the Earth system via air-sea and sea-ice interactions, and are…
The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error. Building an automated design…
This paper presents a reactive navigation method that leverages a Model Predictive Path Integral (MPPI) control enhanced with spline interpolation for the control input sequence and Stein Variational Gradient Descent (SVGD). The MPPI…
3D Gaussian Splatting offers a strong speed-quality trade-off but struggles to reconstruct semi-transparent surfaces because most methods assume a single depth per pixel, which fails when multiple surfaces are visible. We propose TSPE-GS…
We introduce OceanSplat, a novel 3D Gaussian Splatting-based approach for high-fidelity underwater scene reconstruction. To overcome multi-view inconsistencies caused by scattering media, we design a trinocular setup for each camera pose by…
3D Gaussian Splatting is a powerful visual representation, providing high-quality and efficient 3D scene reconstruction, but it is crucially dependent on accurate camera poses typically obtained from computationally intensive processes like…
In this paper, we explore an open research problem concerning the reconstruction of 3D scenes from images. Recent methods have adopt 3D Gaussian Splatting (3DGS) to produce 3D scenes due to its efficient training process. However, these…
Mesoscale eddies are of utmost importance in understanding ocean dynamics and the transport of heat, salt, and nutrients. Accurate representation of these eddies in ocean models is essential for improving model predictions. However,…
Three-dimensional (3D) reconstruction of ships is an important part of maritime monitoring, allowing improved visualization, inspection, and decision-making in real-world monitoring environments. However, most state-ofthe-art 3D…
3D Gaussian Splatting (3DGS) is a technique to create high-quality, real-time 3D scenes from images. This method often produces visual artifacts known as floaters--nearly transparent, disconnected elements that drift in space away from the…
Recently, reconstructing scenes from a single panoramic image using advanced 3D Gaussian Splatting (3DGS) techniques has attracted growing interest. Panoramic images offer a 360$\times$ 180 field of view (FoV), capturing the entire scene in…