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Trash deposits in aquatic environments have a destructive effect on marine ecosystems and pose a long-term economic and environmental threat. Autonomous underwater vehicles (AUVs) could very well contribute to the solution of this problem…
A renaissance in radar-based sensing for mobile robotic applications is underway. Compared to cameras or lidars, millimetre-wave radars have the ability to `see' through thin walls, vegetation, and adversarial weather conditions such as…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…
A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional…
Underwater imagery has enabled numerous civilian applications in various domains, ranging from academia to industry, and from industrial surveillance and maintenance to environmental protection and behavior of marine creatures studies. The…
Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational…
A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…
Drowning is an omnipresent risk associated with any activity on or in the water, and rescuing a drowning person is particularly challenging because of the time pressure, making a short response time important. Further complicating water…
Autonomous Underwater Robots (AURs) operate in challenging underwater environments, including low visibility and harsh water conditions. Such conditions present challenges for software engineers developing perception modules for the AUR…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Underwater ROVs (Remotely Operated Vehicles) are indispensable for subsea exploration and task execution, yet typical teleoperation engines based on egocentric (first-person) video feeds restrict human operators' field-of-view and limit…
This paper proposes an uncertainty-aware marine pollution source tracking framework for unmanned surface vehicles (USVs). By integrating high-fidelity marine pollution dispersion simulation with informative path planning techniques, we…
Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…
This paper presents a novel approach to the design of globally asymptotically stable (GAS) position filters for Autonomous Underwater Vehicles (AUVs) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL) and a…
Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at…
Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which are significant in water and cannot be ignored. The problem is exacerbated for small AUVs for which the dynamics…
We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…
Marine ecosystems and their fish habitats are becoming increasingly important due to their integral role in providing a valuable food source and conservation outcomes. Due to their remote and difficult to access nature, marine environments…
Accurate, self-consistent bathymetric maps are needed to monitor changes in subsea environments and infrastructure. These maps are increasingly collected by underwater vehicles, and mapping requires an accurate vehicle navigation solution.…
Oyster reefs are critical ecosystem species that sustain biodiversity, filter water, and protect coastlines, yet they continue to decline globally. Restoring these ecosystems requires regular underwater monitoring to assess reef health, a…