相关论文: Underwater Caging and Capture for Autonomous Under…

Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…

Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…

The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…

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…

Detection of artificial objects from underwater imagery gathered by Autonomous Underwater Vehicles (AUVs) is a key requirement for many subsea applications. Real-world AUV image datasets tend to be very large and unlabelled. Furthermore,…

Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…

Autonomous underwater vehicles (AUVs) have been deployed for underwater exploration. However, its potential is confined by its limited on-board battery energy and data storage capacity. This problem has been addressed using docking systems…

Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…

Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…

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…

Traditional sea exploration faces significant challenges due to extreme conditions, limited visibility, and high costs, resulting in vast unexplored ocean regions. This paper presents an innovative AI-powered Autonomous Underwater Vehicle…

Underwater navigation is a challenging area in the field of mobile robotics due to inherent constraints in self-localisation and communication in underwater environments. Some of these challenges can be mitigated by using collaborative…

This paper presents an evaluation of a number of probabilistic algorithms for localization of autonomous underwater vehicles (AUVs) using bathymetry data. The algorithms, based on the principles of the Bayes filter, work by fusing…

The design of autonomous underwater vehicles (AUVs) and their docking stations has been a popular research topic for several decades. Although many AUV and dock designs have been proposed, materialized, and commercialized, most of these…

Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…

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…

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…