Related papers: Towards Modular and Accessible AUV Systems

Landing an unmanned aerial vehicle unmanned aerial vehicle (UAV) on top of an unmanned surface vehicle (USV) in harsh open waters is a challenging problem, owing to forces that can damage the UAV due to a severe roll and/or pitch angle of…

Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…

The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…

Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…

Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…

This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…

The design of systems that can change their behaviour to account for scenarios that were not foreseen at design time remains an open challenge. In this paper we propose an approach for adaptation of mobile robot missions that is not…

Using autonomous underwater vehicles, or AUVs, has completely changed how we gather data from the ocean floor. AUV innovation has advanced significantly, especially in the analysis of images, due to the increasing need for accurate and…

The emergence of Software-Defined Vehicles (SDVs) signifies a shift from a distributed network of electronic control units (ECUs) to a centralized computing architecture within the vehicle's electrical and electronic systems. This…

Autonomous underwater vehicles (AUVs) are underwater robotic platforms used in a variety of applications. An AUV's navigation solution relies heavily on the fusion of inertial sensors and Doppler velocity logs (DVL), where the latter…

ML-Enabled Systems (MLES) are inherently complex since they require multiple components to achieve their business goal. This experience report showcases the software architecture reusability techniques applied while building Ocean Guard, an…

Modular Reconfigurable Robots (MRRs) represent an exciting path forward for industrial robotics, opening up new possibilities for robot design. Compared to monolithic manipulators, they promise greater flexibility, improved maintainability,…

Autonomous Underwater Vehicles (AUVs) commonly utilize an inertial navigation system (INS) and a Doppler velocity log (DVL) for underwater navigation. To that end, their measurements are integrated through a nonlinear filter such as the…

In the present work, a hybrid MMC-MMV approach is developed for designing additive manufacturing-oriented shell-graded-infill structures. The key idea is to describe the geometry of a shell-graded-infill structure explicitly using some…

Marine robots must maintain precise control and ensure safety during tasks like ocean monitoring, even when encountering unpredictable disturbances that affect performance. Designing algorithms for uncrewed surface vehicles (USVs) requires…

As unmanned systems such as Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) become increasingly important to applications like urban sensing and emergency response, efficiently recruiting these autonomous devices to…

This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit…

Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually,…

This paper presents the development of an interactive system for constructing Augmented Virtual Environments (AVEs) by fusing mobile phone images with open-source geospatial data. By integrating 2D image data with 3D models derived from…

Electric Autonomous Vehicles (EAVs) have gained increasing attention of industry, governments and scientific communities concerned about issues related to classic transportation including accidents and casualties, gas emissions and air…