Related papers: An Open Toolkit for Underwater Field Robotics
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive…
Due to the critical importance of Industrial Control Systems (ICS) to the operations of cities and countries, research into the security of critical infrastructure has become increasingly relevant and necessary. As a component of both the…
Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…
This paper presents preliminary results towards the development of an autonomous ocean observing system using Miniature Underwater Gliders (MUGs) that can operate with the support of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by…
This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…
Despite the multitude of excellent software components and tools available in the robotics and broader software engineering communities, successful integration of software for robotic systems remains a time-consuming and challenging task…
A Remotely Operated Vehicle (ROV) is a tethered underwater robot used for tasks like inspection and intervention. While essential tools for underwater science, the high cost of commercial ROVs and a persistent gap between mechanically…
With the advancements in underwater wireless communications, internet of underwater things (IoUT) realization is inevitable to enable many practical applications, such as exploring ocean resources, ocean monitoring, underwater navigation,…
In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertainties and complexity of UVMS dynamic model ii) external…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Autonomously controlling the position of Remotely Operated underwater Vehicles (ROVs) is of crucial importance for a wide range of underwater engineering applications, such as in the inspection and maintenance of underwater industrial…
Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a…
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 work provides an extension of Ardupilot's capabilities to allow researchers to develop swarm robotics applications in Robot Operating System(ROS)/Gazebo simulations. Ardupilot is a tool used for autopilot functions in autonomous air,…
The one-to-one mapping of control inputs to actuator outputs results in elaborate routing architectures that limit how complex fluidic soft robot behaviours can currently become. Embodied intelligence can be used as a tool to counteract…
Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there…
Marine ecosystems face increasing pressure due to climate change, driving the need for scalable, AI-powered monitoring solutions to inform effective conservation and restoration efforts. This paper examines the rapid emergence of underwater…