相关论文: Heading Lock Maneuver Testing of Autonomous Underw…

In this article we present a novel underwater dataset collected from several field trials within the EU FP7 project "Cognitive autonomous diving buddy (CADDY)", where an Autonomous Underwater Vehicle (AUV) was used to interact with divers…

Since the application of Deep Q-Learning to the continuous action domain in Atari-like games, Deep Reinforcement Learning (Deep-RL) techniques for motion control have been qualitatively enhanced. Nowadays, modern Deep-RL can be successfully…

Ocean hazardous spills and search and rescue incidents are more prevalent as maritime activities increase across all sectors of society. However, emergency response time remains a factor due to a lack of information to accurately forecast…

Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs) have emerged as platforms capable of operating in both aerial and underwater environments, enabling applications such as inspection, mapping, search, and rescue in challenging scenarios.…

In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an…

Self-adaptation is a crucial feature of autonomous systems that must cope with uncertainties in, e.g., their environment and their internal state. Self-adaptive systems are often modelled as two-layered systems with a managed subsystem…

Coral reefs are fast-changing and complex ecosystems that are crucial to monitor and study. Biological hotspot detection can help coral reef managers prioritize limited resources for monitoring and intervention tasks. Here, we explore the…

Marine robots must maintain precise control and ensure safety during tasks like ocean monitoring, even when encountering unpredictable disturbances that affect performance. Designing algorithms for uncrewed surface vehicles (USVs) requires…

We designed and constructed an A-sized base autonomous underwater vehicle (AUV), augmented with a stack of modular and extendable hardware and software, including autonomy, navigation, control and high fidelity simulation capabilities…

Autonomous underwater vehicle (AUV) plays an increasingly important role in ocean exploration. Existing AUVs are usually not fully autonomous and generally limited to pre-planning or pre-programming tasks. Reinforcement learning (RL) and…

This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…

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…

We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…

Autonomous Underwater Vehicles (AUVs) are increasingly being used to support scientific research and monitoring studies. One such application is in benthic habitat mapping where these vehicles collect seafloor imagery that complements…

Autonomous underwater vehicles (AUV) perform various applications such as seafloor mapping and underwater structure health monitoring. Commonly, an inertial navigation system aided by a Doppler velocity log (DVL) is used to provide the…

This paper addresses efficient feasibility evaluation of possible emergency landing sites, online navigation, and path following for automatic landing under engine-out failure subject to turbulent weather. The proposed Multi-level Adaptive…

Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…

Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a…

This article presents novel designs of autonomous UAV prototypes specifically developed for inspecting GPS-denied tunnel construction environments with dynamic human and robotic presence. Our UAVs integrate advanced sensor suites and robust…

Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable…