Related papers: Autonomous Search for Sparsely Distributed Visual …
This paper studies an optimal autonomous underwater vehicule (AUV) path planning method for both reducing average delay before pollutants detection in underwater mining, oil or gas fields and reducing AUV occupancy time. The proposed…
If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…
Several approaches to graphically representing context-specific relations among jointly distributed categorical variables have been proposed, along with structure learning algorithms. While existing optimization-based methods have limited…
Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…
What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…
In sparse target inference problems it has been shown that significant gains can be achieved by adaptive sensing using convex criteria. We generalize previous work on adaptive sensing to (a) include multiple classes of targets with…
Autonomous underwater vehicles often perform surveys that capture multiple views of targets in order to provide more information for human operators or automatic target recognition algorithms. In this work, we address the problem of…
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…
The subject is the localization problem of an underwater swarm of autonomous underwater robots (AUV), in the frame of the HARNESS project; by localization, we mean the relative swarm configuration, i.e., the geometrical shape of the group.…
The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…
Autonomous robots operating in complex, unstructured environments face significant challenges due to latent, unobserved factors that obscure their understanding of both their internal state and the external world. Addressing this challenge…
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…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth's oceans. However, these advances…
The challenge of efficient target searching in vast natural environments has driven the need for advanced multi-UAV active search strategies. This paper introduces a novel method in which global and local information is adeptly merged to…
The rapid advancements in unmanned aerial vehicles (UAVs) have unlocked numerous applications, including environmental monitoring, disaster response, and agricultural surveying. Enhancing the collective behavior of multiple decentralized…
Robotic mapping is attractive in many scientific applications that involve environmental surveys. This paper presents a system for localization and mapping of sparsely distributed surface features such as precariously balanced rocks (PBRs),…