相关论文: Adaptive Path Planning for Depth Constrained Bathy…
Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…
Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…
Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance…
The use of Autonomous Surface Vessels (ASVs) is growing rapidly. For safe and efficient surface auto-driving, a reliable perception system is crucial. Such systems allow the vessels to sense their surroundings and make decisions based on…
Approximately seventy-one percent of the Earth is covered in water. Of that area, ninety-five percent of the ocean has never been explored or mapped. There are several engineering challenges that have prevented the exploration of the deep…
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…
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…
Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system…
Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time…
Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids…
In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…