Related papers: Towards Real-Time Interpolation for Enhanced AUV D…
This paper studies a new mobile edge computing (MEC) setup where an unmanned aerial vehicle (UAV) is served by cellular ground base stations (GBSs) for computation offloading. The UAV flies between a give pair of initial and final…
Autonomous Underwater Vehicle-Manipulator systems (AUVMS) is a new tool for ocean exploration, the AUVMS path planning problem is addressed in this paper. AUVMS is a high dimension system with a large difference in inertia distribution,…
This paper discusses opportunities to parallelize graph based path planning algorithms in a time varying environment. Parallel architectures have become commonplace, requiring algorithm to be parallelized for efficient execution. An…
This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…
The last few decades have led to the rise of research focused on propulsion and control systems for bio-inspired unmanned underwater vehicles (UUVs), which provide more maneuverable alternatives to traditional UUVs in underwater missions.…
This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot…
The future sixth-generation (6G) of wireless networks is expected to surpass its predecessors by offering ubiquitous coverage through integrated air-ground facility deployments in both communication and computing domains. In this network,…
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…
Underwater imagery has enabled numerous civilian applications in various domains, ranging from academia to industry, and from industrial surveillance and maintenance to environmental protection and behavior of marine creatures studies. The…
Computer vision applications, especially those using augmented reality technology, are becoming quite popular in mobile devices. However, this type of application is known as presenting significant demands regarding resources. In order to…
Ocean scientists studying diverse organisms and phenomena increasingly rely on imaging devices for their research. These scientists have many tools to collect their data, but few resources for automated analysis. In this paper, we report on…
Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…
Accurate and efficient global ocean state estimation remains a grand challenge for Earth system science, hindered by the dual bottlenecks of computational scalability and degraded data fidelity in traditional data assimilation (DA) and deep…
We examine implicit representations of parametric or point cloud models, based on interpolation matrices, which are not sensitive to base points. We show how interpolation matrices can be used for ray shooting of a parametric ray with a…
We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine…
Up until now, path planning for unmanned aerial vehicles (UAVs) has mainly been focused on the optimisation towards energy efficiency. However, to operate UAVs safely, wireless coverage is of utmost importance. Currently, deployed cellular…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…
Driven by the visions of Internet of Things (IoT), there is an ever-increasing demand for computation resources of IoT users to support diverse applications. Mobile edge computing (MEC) has been deemed a promising solution to settle the…
There is an increasing demand for piloted autonomous underwater vehicles (AUVs) to operate in polar ice conditions. At present, AUVs are deployed from ships and directly human-piloted in these regions, entailing a high carbon cost and…