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Unmanned Surface Vehicles (USVs) have become critical tools for marine exploration, environmental monitoring, and autonomous navigation. Accurate estimation of wave direction is essential for improving USV navigation and ensuring…
Off-road autonomous unmanned ground vehicles (UGVs) are being developed for military and commercial use to deliver crucial supplies in remote locations, help with mapping and surveillance, and to assist war-fighters in contested…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and…
Visual-language models (VLMs) have recently been introduced in robotic mapping using the latent representations, i.e., embeddings, of the VLMs to represent semantics in the map. They allow moving from a limited set of human-created labels…
In this paper, an algorithm for Unmanned Aircraft Systems Traffic Management (UTM) for a finite number of unmanned aerial vehicles (UAVs) is proposed. This algorithm is developed by combining the Rapidly-Exploring Random Trees (RRT) and…
This paper presents the design, development, and experimental validation of MARVEL, an autonomous unmanned surface vehicle built for real-world testing of sensor fusion-based navigation algorithms in GNSS-denied environments. MARVEL was…
Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…
Localization plays a crucial role in the navigation capabilities of autonomous robots, and while indoor environments can rely on wheel odometry and 2D LiDAR-based mapping, outdoor settings such as agriculture and forestry, present unique…
Vectorized high-definition (HD) map is essential for autonomous driving, providing detailed and precise environmental information for advanced perception and planning. However, current map vectorization methods often exhibit deviations, and…
The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…
Localization of autonomous unmanned aerial vehicles (UAVs) relies heavily on Global Navigation Satellite Systems (GNSS), which are susceptible to interference. Especially in security applications, robust localization algorithms independent…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
Can VLMs predict how each camera move changes the view, and plan many such moves ahead? We call this capability view planning, requiring (1)understanding how a single action transforms the view, and (2)composing many such transformations…
Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…
The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…
Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…
Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…