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

Autonomous underwater vehicles (AUVs) and sensor nodes increasingly support decentralized sensing and coordination in the Internet of Underwater Things (IoUT), yet most deployments rely on static trust once authentication is established,…

In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…

Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…

We propose a low-cost laboratory platform for development and validation of underwater mapping techniques, using the BlueROV2 Remotely Operated Vehicle (ROV). Both the ROV and the objects to be mapped are placed in a pool that is imaged via…

Autonomous vehicle (AV) algorithms need to be tested extensively in order to make sure the vehicle and the passengers will be safe while using it after the implementation. Testing these algorithms in real world create another important…

Holonomic autonomous underwater vehicles (AUVs) have the hardware ability for agile maneuvering in both translational and rotational degrees of freedom (DOFs). However, due to challenges inherent to underwater vehicles, such as complex…

A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…

Vision-Language Navigation (VLN) enables agents to navigate in complex environments by following natural language instructions grounded in visual observations. Although most existing work has focused on ground-based robots or outdoor…

Physical layer message authentication in underwater acoustic networks (UWANs) leverages the characteristics of the underwater acoustic channel (UWAC) as a fingerprint of the transmitting device. However, as the device moves its UWAC…

Autonomous underwater vehicles (AUVs) increasingly rely on on-board computer-vision systems for tasks such as habitat mapping, ecological monitoring, and infrastructure inspection. However, underwater imagery is hindered by light…

Autonomous Underwater Vehicles (AUVs) have shown great potential for cooperative detection and reconnaissance. However, collaborative AUV communications introduce risks of exposure. In adversarial environments, achieving efficient…

Marine pollution is a growing worldwide concern, affecting health of marine ecosystems, human health, climate change, and weather patterns. To reduce underwater pollution, it is critical to have access to accurate information about the…

In Autonomous Underwater Vehicles (AUVs) design, hull resistance is an important factor in determining the power requirements and range of vehicle and consequently affect battery size, weight, and volume requirement of the design. In this…

This article describes a guidance system of the autonomous underwater vehicle "DeepC" [1] in Special situations. A special situation occurs when one or more objects interfere with the planned route of a mission. The possible reactions are…

Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper presents a reinforcement-learning-based approach for…

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…

Autonomous vehicles (AVs) have significantly advanced in real-world deployment in recent years, yet safety continues to be a critical barrier to widespread adoption. Traditional functional safety approaches, which primarily verify the…

Autonomous underwater robots typically require higher cost and time for demonstrations compared to other domains due to the complexity of the environment. Due to the limited capacity and payload flexibility, it is challenging to find…

This article presents experimental and numerical studies on the effect of free stream turbulence on evolution of flow over an autonomous underwater vehicle (AUV) hull form at three Reynolds numbers with different submergence depths and…