Related papers: An Open Toolkit for Underwater Field Robotics
Shared autonomy enables novice remote users to conduct deep-ocean science operations with robotic manipulators.
The increasing demand for underwater exploration and rescue operations enforces the development of advanced wireless or semi-wireless underwater vessels equipped with manipulator arms. This paper presents the implementation of a…
When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…
Exploring and inspecting \emph{Hidden Spaces}, defined as environments whose entrances are accessible only to aerial robots but remain unexplored due to geometric constraints, limited flight time, and communication loss, remains a major…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
OpenScout is an Open Source Hardware (OSH) mobile robot for research and industry. It is extended to v1.1 which includes simplified, cheaper and more powerful onboard compute hardware; a simulated ROS2 interface; and a Gazebo simulation.…
Reliable human-robot communication is essential for underwater human-robot interaction (U-HRI), yet traditional methods such as acoustic signaling and predefined gesture-based models suffer from limitations in adaptability and robustness.…
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…
Robotics and automation are key enablers to increase throughput in ongoing conservation efforts across various threatened ecosystems. Cataloguing, digitisation, husbandry, and similar activities require the ability to interact with…
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…
Currently, industrial sectors are transforming their business processes into e-services and component-based architectures to build flexible, robust, and scalable systems, and reduce integration-related maintenance and development costs.…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
The current state of electronic component miniaturization coupled with the increasing efficiency in hardware and software allow the development of smaller and compact robotic systems. The convenience of using these small, simple, yet…
This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We…
Underwater image enhancement is such an important low-level vision task with many applications that numerous algorithms have been proposed in recent years. These algorithms developed upon various assumptions demonstrate successes from…
Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…
Sonar sensing is fundamental for underwater robotics, but limited by capabilities of AI systems, which need large training datasets. Public data in sonar modalities is lacking. This paper presents the Marine Debris Forward-Looking Sonar…
The needs to assess robust performances for complex systems and to answer tighter regulatory processes (security, safety, environmental control, and health impacts, etc.) have led to the emergence of a new industrial simulation challenge:…
Underwater object detection (UOD), aiming to identify and localise the objects in underwater images or videos, presents significant challenges due to the optical distortion, water turbidity, and changing illumination in underwater scenes.…
This work explores the application of nonlinear oscillators coupled by electric field in water for collective tasks in underwater robotics. Such coupled oscillators operate in clear and colloidal (mud, bottom silt) water and represent a…