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This paper proposes a novel approach to improve the performance of the extended Kalman filter (EKF) for the problem of mobile robot localization. A fuzzy logic system is employed to continuous-ly adjust the noise covariance matrices of the…

Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality…

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…

Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…

This paper describes a novel tracking filter, designed primarily for use in collision avoidance systems on autonomous surface vehicles (ASVs). The proposed methodology leverages real-time kinematic information broadcast via the Automatic…

To address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the…

This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…

Underwater robotics addresses the problem of object detection apparatus. Offers a probabilistic formulation of the problem, which uses the reduction of the detection task to a classical task of Buffon. This formulation arises naturally in…

For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…

Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…

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…

This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…

One of the main issues for underwater robots navigation is their accurate positioning, which heavily depends on the orientation estimation phase. The systems employed to this scope are affected by different noise typologies, mainly related…

Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor…

This document presents the study of the problem of location and trajectory that a robot must follow. It focuses on applying the Kalman filter to achieve location and trajectory estimation in an autonomous mobile differential robot. The…

This paper presents an extension of the DRIFT invariant state estimation framework, enabling robust fusion of GPS and IMU data for accurate pose and heading estimation. Originally developed for testing and usage on a marine autonomous…

Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…

Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…

Existing works have explored the anchor deployment for autonomous underwater vehicles (AUVs) localization under the assumption that the sound propagates straightly underwater at a constant speed. Considering that the underwater acoustic…

Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…