Related papers: Docking and Persistent Operations for a Resident U…
In this paper, we present the design and development of an undersea camera system. The goal of our system is to provide a 3D model of the undersea habitat in a long-term continuous manner. The most important feature of our system is the use…
The ocean is warming and acidifying, increasing the risk of mass mortality events for temperature-sensitive shellfish such as oysters. This motivates the development of long-term monitoring systems. However, human labor is costly and…
With the advancement of maritime unmanned aerial vehicles (UAVs) and deep learning technologies, the application of UAV-based object detection has become increasingly significant in the fields of maritime industry and ocean engineering.…
Object detection aims to obtain the location and the category of specific objects in a given image, which includes two tasks: classification and location. In recent years, researchers tend to apply object detection to underwater robots…
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.…
Path Following and Collision Avoidance, be it for unmanned surface vessels or other autonomous vehicles, are two fundamental guidance problems in robotics. For many decades, they have been subject to academic study, leading to a vast number…
Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and…
This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A…
Deep-sea robot operations demand a high level of safety, efficiency and reliability. As a consequence, measures within the development stage have to be implemented to extensively evaluate and benchmark system components ranging from data…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
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…
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 presents an approach for autonomous docking of a fully actuated autonomous surface vessel using expert demonstration data. We frame the docking problem as an imitation learning task and employ inverse reinforcement learning (IRL)…
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…
Uses of underwater videos to assess diversity and abundance of fish are being rapidly adopted by marine biologists. Manual processing of videos for quantification by human analysts is time and labour intensive. Automatic processing of…
Underwater vehicles are utilized in various applications including underwater data-collection missions. The tethered connection constrains the mission both in distance traveled and number of vehicles that can run in the same area, while the…
This paper presents a learned model to predict the robot-centric velocity of an underwater robot through dynamics-aware proprioception. The method exploits a recurrent neural network using as inputs inertial cues, motor commands, and…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
Recent advances in efficient design, perception algorithms, and computing hardware have made it possible to create improved human-robot interaction (HRI) capabilities for autonomous underwater vehicles (AUVs). To conduct secure missions as…
This paper proposes RUR53: an Unmanned Ground Vehicle able to autonomously navigate through, identify, and reach areas of interest; and there recognize, localize, and manipulate work tools to perform complex manipulation tasks. The proposed…