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The underactuated vehicles are apposite for the long-term deployment and data collection in spatiotemporally varying marine environments. However, these vehicles need to estimate their positions (states) with intrinsic sensing in their…
Positioning of underwater robots in confined and cluttered spaces remains a key challenge for field operations. Existing systems are mostly designed for large, open-water environments and struggle in industrial settings due to poor…
This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…
Aquaculture is a big marine industry and contributes to securing global food demands. Underwater vehicles such as remotely operated vehicles (ROVs) are commonly used for inspection, maintenance, and intervention (IMR) tasks in fish farms.…
Due to the challenges regarding the limits of their endurance and autonomous capabilities, underwater docking for autonomous underwater vehicles (AUVs) has become a topic of interest for many academic and commercial applications. Herein, we…
Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
Accurate water quality assessment requires spatially resolved sampling, yet most unmanned surface vehicles (USVs) can collect only a limited number of samples or rely on single-point sensors with poor representativeness. This work presents…
Within the next several years, there will be a high level of autonomous technology that will be available for widespread use, which will reduce labor costs, increase safety, save energy, enable difficult unmanned tasks in harsh…
This paper proposes a novel Reinforcement Learning (RL) approach for sim-to-real policy transfer of Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL-UAV). The proposed approach is designed for VTOL-UAV landing on offshore docking…
Marine robots, particularly Unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, environmental monitoring, and maritime security. This paper…
Rescue vessels are the main actors in maritime safety and rescue operations. At the same time, aerial drones bring a significant advantage into this scenario. This paper presents the research directions of the AutoSOS project, where we work…
This paper explores the design and development of a class of robust diver-following algorithms for autonomous underwater robots. By considering the operational challenges for underwater visual tracking in diverse real-world settings, we…
Small-sized unmanned surface vehicles (USV) are coastal water devices with a broad range of applications such as environmental control and surveillance. A crucial capability for autonomous operation is obstacle detection for timely reaction…
In order to keep aquatic ecosystems safe and healthy, it is imperative that cleaning be done frequently. This research suggests the use of autonomous underwater rovers for effective underwater cleaning as a novel approach to this issue. The…
Unmanned surface vehicles (USVs) have great value with their ability to execute hazardous and time-consuming missions over water surfaces. Recently, USVs for inland waterways have attracted increasing attention for their potential…
With the growing interest in underwater exploration and monitoring, Autonomous Underwater Vehicles (AUVs) have become essential. The recent interest in onboard Deep Learning (DL) has advanced real-time environmental interaction capabilities…