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The future of inland navigation increasingly relies on autonomous systems and remote operations, emphasizing the need for accurate vessel trajectory prediction. This study addresses the challenges of video-based vessel tracking and…
Many unmanned aerial vehicle surveillance and monitoring applications require observations at precise locations over long periods of time, ideally days or weeks at a time (e.g. ecosystem monitoring), which has been impractical due to…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…
Deep Reinforcement Learning (DRL) offers a robust alternative to traditional control methods for autonomous underwater docking, particularly in adapting to unpredictable environmental conditions. However, bridging the "sim-to-real" gap and…
Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…
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…
This paper introduces an autonomous UAV vision system for continuous, real-time tracking of marine animals, specifically sharks, in dynamic marine environments. The system integrates an onboard computer with a stabilised RGB-D camera and a…
Unmanned Surface Vehicles (USVs) are increasingly utilised for diverse applications, ranging from environmental monitoring to security patrols. While USV technology is progressing, it remains clear that full autonomy is not achievable in…
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…
Robotic underwater systems, e.g., Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs), are promising tools for collecting biogeochemical data at the ice-water interface for scientific advancements. However, state…
Unmanned surface vehicles (USVs) and boats are increasingly important in maritime operations, yet their deployment is limited due to costly sensors and complexity. LiDAR, radar, and depth cameras are either costly, yield sparse point clouds…
Traditional sea exploration faces significant challenges due to extreme conditions, limited visibility, and high costs, resulting in vast unexplored ocean regions. This paper presents an innovative AI-powered Autonomous Underwater Vehicle…
Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…
Submarine cables play a critical role in global internet connectivity, energy transmission, and communication but remain vulnerable to accidental damage and sabotage. Recent incidents in the Baltic Sea highlighted the need for enhanced…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
In marine aquaculture, inspecting sea cages is an essential activity for managing both the facilities' environmental impact and the quality of the fish development process. Fish escape from fish farms into the open sea due to net damage,…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
In-situ visual observations of marine organisms is crucial to developing behavioural understandings and their relations to their surrounding ecosystem. Typically, these observations are collected via divers, tags, and remotely-operated or…
This paper proposes the trajectory tracking problem between an autonomous underwater vehicle (AUV) and a mobile surface ship, both equipped with optical communication transceivers. The challenging issue is to maintain stable connectivity…
Today ship hull inspection including the examination of the external coating, detection of defects, and other types of external degradation such as corrosion and marine growth is conducted underwater by means of Remotely Operated Vehicles…