相关论文: A localization approach for autonomous underwater …
Achieving robust cognitive autonomy in robots navigating complex, unpredictable environments remains a fundamental challenge in robotics. This paper presents Underwater Robot Self-Organizing Autonomy (UROSA), a groundbreaking architecture…
The subject is the localization problem of an underwater swarm of autonomous underwater robots (AUV), in the frame of the HARNESS project; by localization, we mean the relative swarm configuration, i.e., the geometrical shape of the group.…
The increasing complexity of underwater robotic systems has led to a surge in simulation platforms designed to support perception, planning, and control tasks in marine environments. However, selecting the most appropriate underwater…
Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (\eg surveillance, inspection, and search-and-rescue) require…
Research in the field of autonomous Unmanned Aerial Vehicles (UAVs) has significantly advanced in recent years, mainly due to their relevance in a large variety of commercial, industrial, and military applications. However, UAV navigation…
This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
We present MeCO, the Medium Cost Open-source autonomous underwater vehicle (AUV), a versatile autonomous vehicle designed to support research and development in underwater human-robot interaction (UHRI) and marine robotics in general. An…
This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…
Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…
A control system structure for the underwater docking procedure of an Autonomous Underwater Helicopter (AUH) is proposed in this paper, which utilizes acoustic-inertial-optical guidance. Unlike conventional Autonomous Underwater Vehicles…
An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to…
In this paper, we present a motion-based robotic communication framework that enables non-verbal communication among autonomous underwater vehicles (AUVs) and human divers. We design a gestural language for AUV-to-AUV communication which…
The paper deals with the software and the electronics unit for an autonomous underwater vehicle. The implementation in the electronics unit is the connection and communication between SBC, pixhawk controller and other sensory hardware and…
Localization of underwater networks is important in many military and civil applications. Because GPS receivers do not work below the water surface, traditional localization methods form a relative topology of underwater nodes (UWNs) and…
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…
Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique…
The underactuated vehicles are apposite for the long-term deployment and data collection in spatiotemporally varying marine environments. However, these vehicles need to estimate their positions (states) with intrinsic sensing in their…
There is an increasing demand for piloted autonomous underwater vehicles (AUVs) to operate in polar ice conditions. At present, AUVs are deployed from ships and directly human-piloted in these regions, entailing a high carbon cost and…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…