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Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
This paper addresses the problem of developing an algorithm for autonomous ship landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs), using only a monocular camera in the UAV for tracking and localization.…
The object perception capabilities of humans are impressive, and this becomes even more evident when trying to develop solutions with a similar proficiency in autonomous robots. While there have been notable advancements in the technologies…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
This paper studies trajectory optimization of an autonomous underwater vehicle (AUV) to track an unknown maneuvering target both in the 2D and 3D space. Due to the restrictions on sensing capabilities in the underwater scenario, the AUV is…
Referring Multi-Object Tracking (RMOT) aims to achieve precise object detection and tracking through natural language instructions, representing a fundamental capability for intelligent robotic systems. However, current RMOT research…
Ships, or vessels, often sail in and out of cluttered environments over the course of their trajectories. Safe navigation in such cluttered scenarios requires an accurate estimation of the intent of neighboring vessels and their effect on…
We propose control systems for the coordination of the ground robots. We develop robot efficient coordination using the devices located on towers or a tethered aerial apparatus tracing the robots on controlled area and supervising their…
Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…
The use of autonomous underwater vehicles (AUVs) to accomplish traditionally challenging and dangerous tasks has proliferated thanks to advances in sensing, navigation, manipulation, and on-board computing technologies. Utilizing AUVs in…
Over the past decade, a multitude of service robots have been developed to fulfill a wide range of practical purposes. Notably, roles such as reception and robotic guidance have garnered extensive popularity. In these positions, robots are…
Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…
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…
Visual Semantic Navigation (VSN) is the ability of a robot to learn visual semantic information for navigating in unseen environments. These VSN models are typically tested in those virtual environments where they are trained, mainly using…
Today ship hull inspection including the examination of the external coating, detection of defects, and other types of external degradation such as corrosion and marine growth is conducted underwater by means of Remotely Operated Vehicles…
Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This paper provides the mechanical, electrical, and software design of a novel UVMS equipped with…
When searching for an object humans navigate through a scene using semantic information and spatial relationships. We look for an object using our knowledge of its attributes and relationships with other objects to infer the probable…
The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…
In language-guided visual navigation, agents locate target objects in unseen environments using natural language instructions. For reliable navigation in unfamiliar scenes, agents should possess strong perception, planning, and prediction…
Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…