相关论文: An Autonomous Surface Vehicle for Long Term Operat…
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…
The Mining industry considers the deployment of MAV for autonomous inspection of tunnels and shafts to increase safety and productivity. However, mines are challenging and harsh environments that have a direct effect on the degradation of…
Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…
This paper develops a novel unmanned surface vehicle (USV)-autonomous underwater vehicle (AUV) collaborative system designed to enhance underwater task performance in extreme sea conditions. The system integrates a dual strategy: (1)…
Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…
Trash deposits in aquatic environments have a destructive effect on marine ecosystems and pose a long-term economic and environmental threat. Autonomous underwater vehicles (AUVs) could very well contribute to the solution of this problem…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
Automated vehicle (AV) platooning has the potential to improve the safety, operational, and energy efficiency of surface transportation systems by limiting or eliminating human involvement in the driving tasks. The theoretical validity of…
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…
We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…
Heading towards navigational autonomy in unmanned surface vehicles (USVs) in the maritime sector can fundamentally lead towards safer waters as well as reduced operating costs, while also providing a range of exciting new capabilities for…
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…
In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…
The integration of Maritime Autonomous Surface Ships (MASS) into global maritime operations represents a transformative shift in the shipping industry, promising enhanced safety, efficiency, and cost-effectiveness. However, the widespread…
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…
We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…
The underwater environment poses a complex problem for developing autonomous capabilities for Underwater Vehicle Manipulator Systems (UVMSs). The modeling of UVMSs is a complicated and costly process due to the highly nonlinear dynamics and…