相关论文: Ocean Plume Tracking with Unmanned Surface Vessels…

Some female moths attract male moths by emitting series of pulses of pheromone filaments propagating downwind. The turbulent nature of the wind creates a complex flow environment, and causes the filaments to propagate in the form of patches…

Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating specific coral species of interest remains difficult: target species are often sparsely distributed across the reef, and an AUV with…

Environmental monitoring and surveying operations on rivers currently are performed primarily with manually-operated boats. In this domain, autonomous coverage of areas is of vital importance, for improving both the quality and the…

Repeated exploration of a water surface to detect objects of interest and their subsequent monitoring is important in search-and-rescue or ocean clean-up operations. Since the location of any detected object is dynamic, we propose to…

Designing traffic-smoothing cruise controllers that can be deployed onto autonomous vehicles is a key step towards improving traffic flow, reducing congestion, and enhancing fuel efficiency in mixed autonomy traffic. We bypass the common…

Recent research has paid little attention to complex driving behaviors, namely merging car-following and lane-changing behavior, and how lane-changing affects algorithms designed to model and control a car-following vehicle. During the…

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…

The high incidence of oil spills in port areas poses a serious threat to the environment, prompting the need for efficient detection mechanisms. Utilizing automated drones for this purpose can significantly improve the speed and accuracy of…

Satellite imagery can detect temporary cloud trails or ship tracks formed from aerosols emitted from large ships traversing our oceans, a phenomenon that global climate models cannot directly reproduce. Ship tracks are observable examples…

Given trajectory data, a domain-specific study area, and a user-defined threshold, we aim to find anomalous trajectories indicative of possible GPS spoofing (e.g., fake trajectory). The problem is societally important to curb illegal…

This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…

The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood…

Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…

Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to…

The increase in vehicle ownership has led to increased traffic congestion, more accidents, and higher carbon emissions. Vehicle platooning is a promising solution to address these issues by improving road capacity and reducing fuel…

Atmospheric interaction with light has been an area of fascination for many researchers over the last century. Environmental conditions, such as temperature and wind speed, heavily influence the complex and rapidly varying optical…

The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of-the-art local tracking and trajectory…

This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…

The ocean is filled with microscopic microalgae called phytoplankton, which together are responsible for as much photosynthesis as all plants on land combined. Our ability to predict their response to the warming ocean relies on…

In recent years, learning-based approaches have demonstrated significant promise in addressing intricate navigation tasks. Traditional methods for training deep neural network navigation policies rely on meticulously designed reward…