Related papers: Deployment and Development of a Cognitive Teleorea…
This paper presents the design, development, and experimental validation of MARVEL, an autonomous unmanned surface vehicle built for real-world testing of sensor fusion-based navigation algorithms in GNSS-denied environments. MARVEL was…
Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…
Embodied navigation requires agents to integrate perception, reasoning, and action for robust interaction in complex 3D environments. Existing approaches often suffer from incoherent and unstable reasoning traces that hinder generalization…
Vehicle computing represents a fundamental shift in how autonomous vehicles are designed and deployed, transforming them from isolated transportation systems into mobile computing platforms that support both safety-critical, real-time…
The system architecture controlling a group of robots is generally set before deployment and can be either centralized or decentralized. This dichotomy is highly constraining, because decentralized systems are typically fully self-organized…
Semantic reasoning and dynamic planning capabilities are crucial for an autonomous agent to perform complex navigation tasks in unknown environments. It requires a large amount of common-sense knowledge, that humans possess, to succeed in…
Aerial outdoor semantic navigation requires robots to explore large, unstructured environments to locate target objects. Recent advances in semantic navigation have demonstrated open-set object-goal navigation in indoor settings, but these…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
Oyster reefs are critical ecosystem species that sustain biodiversity, filter water, and protect coastlines, yet they continue to decline globally. Restoring these ecosystems requires regular underwater monitoring to assess reef health, a…
AEROS aims to develop a nanosatellite as a precursor of a future system of systems, which will include assets and capabilities of both new and existing platforms operating in the Ocean and Space, equipped with state-of-the-art sensors and…
In underwater navigation, accurate heading information is crucial for accurately and continuously tracking trajectories, especially during extended missions beneath the waves. In order to determine the initial heading, a gyrocompassing…
Humans naturally decompose their environment into entities at the appropriate level of abstraction to act in the world. Allowing machine learning algorithms to derive this decomposition in an unsupervised way has become an important line of…
As underwater human activities are increasing, the demand for underwater communication service presents a significant challenge. Existing underwater diver communication methods face hurdles due to inherent disadvantages and complex…
This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environments. While existing methods often rely on local heuristics,…
Advances in open-vocabulary semantic mapping and object navigation have enabled robots to perform an informed search of their environment for an arbitrary object. However, such zero-shot object navigation is typically designed for simple…
Ensuring the safety and certifiability of autonomous surface vessels (ASVs) requires robust decision-making systems, supported by extensive simulation, testing, and validation across a broad range of scenarios. However, the current…
We introduce NeuralOS, a neural framework that simulates graphical user interfaces (GUIs) of operating systems by directly predicting screen frames in response to user inputs such as mouse movements, clicks, and keyboard events. NeuralOS…
Autonomous Underwater Vehicles (AUVs) are indispensable for marine exploration; yet, their control is hindered by nonlinear hydrodynamics, time-varying disturbances, and localization uncertainty. Traditional controllers provide only limited…
Safe, reliable navigation in extreme, unfamiliar terrain is required for future robotic space exploration missions. Recent generative-AI methods learn semantically aware navigation policies from large, cross-embodiment datasets, but offer…
Current vision-language navigation methods face substantial bottlenecks regarding heterogeneous robot compatibility, real-time performance, and navigation safety. Furthermore, they struggle to support open-vocabulary semantic generalization…