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Unmanned Aerial Vehicles (UAVs) are emerging as very important tools in search and rescue (SAR) missions at sea, enabling swift and efficient deployment for locating individuals or vessels in distress. The successful execution of these…
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…
Regional disaster resilience quantifies the changing nature of physical risks to inform policy instruments ranging from local immediate recovery to international sustainable development. While many existing state-of-practice methods have…
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…
In agricultural settings, the unstructured nature of certain production environments, along with the high complexity and inherent risks of production tasks, poses significant challenges to achieving full automation and effective on-site…
Aerial imagery and its direct application to visual localization is an essential problem for many Robotics and Computer Vision tasks. While Global Navigation Satellite Systems (GNSS) are the standard default solution for solving the aerial…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
Autonomous exploration to build a map of an unknown environment is a fundamental robotics problem. However, the quality of the map directly influences the quality of subsequent robot operation. Instability in a simultaneous localization and…
Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
Autonomous vehicles performing navigation tasks in complex environments face significant challenges due to uncertainty in state estimation. In many scenarios, such as stealth operations or resource-constrained settings, accessing…
Rapidly-exploring Random Trees (RRTs) are a popular technique for autonomous exploration of mobile robots. However, the random sampling used by RRTs can result in inefficient and inaccurate frontiers extraction, which affects the…
Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
Accurate ocean modeling and coastal hazard prediction depend on high-resolution bathymetric data; yet, current worldwide datasets are too coarse for exact numerical simulations. While recent deep learning advances have improved earth…
Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain disconnected from environment mapping,…
Unmanned Aerial Vehicles (UAVs) hold immense potential for critical applications, such as search and rescue operations, where accurate perception of indoor environments is paramount. However, the concurrent amalgamation of localization, 3D…
Electric vhicles and autonomous driving dominate current research efforts in the automotive sector. The two topics go hand in hand in terms of enabling safer and more environmentally friendly driving. One fundamental building block of an…
Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, drones in GPS-denied environments require equipping with…
Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…