相关论文: Autonomous Marine Sampling Enhanced by Strategical…

Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…

In the pursuit of autonomous learning systems, the foundational assumption of stationarity, the premise that data distributions and model behaviors remain constant, is fundamentally untenable. Historically, the research community has…

The motions of a passive scalar $\hat{a}$ in a general high-frequency oscillating flow are studied. Our aim is threefold: (i) to obtain different classes of general solutions; (ii) to identify, classify, and develop related asymptotic…

Unmanned surface vessels USVs are typically autonomous or remotely operated and are specifically designed for environmental monitoring in various aquatic environments Aquaculture requires constant monitoring and management of water quality…

Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In…

We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of…

In this paper, an autonomous method of satellite detection and tracking in images is implemented using optical flow. Optical flow is used to estimate the image velocities of detected objects in a series of space images. Given that most…

This paper presents an automated driving system (ADS) data acquisition and processing platform for vehicle trajectory extraction, reconstruction, and evaluation based on connected automated vehicle (CAV) cooperative perception. This…

Autonomous underwater vehicles (AUVs) are increasingly used in many applications such as oceanographic surveys, mapping, and inspection of underwater structures. To successfully complete those tasks, a Doppler velocity log (DVL) and an…

Accurate seabed mapping is essential for habitat monitoring and infrastructure inspection. In turbid, shallow coastal waters, such as shellfish aquaculture farms, the effectiveness of traditional optical methods is limited. Autonomous…

Drifters deployed in close proximity collectively provide a unique observational data set with which to separate mesoscale and submesoscale flows. In this paper we provide a principled approach for doing so by fitting observed velocities to…

This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…

Vehicle detection and localization in complex traffic scenarios pose significant challenges due to the interference of moving objects. Traditional methods often rely on outlier exclusions or semantic segmentations, which suffer from low…

We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…

Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…

The growing demand for robots to operate effectively in diverse environments necessitates the need for robust real-time anomaly detection techniques during robotic operations. However, deep learning-based models in robotics face significant…

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…

The last decades have witnessed the breakthrough of autonomous vehicles (AVs), and the perception capabilities of AVs have been dramatically improved. Various sensors installed on AVs, including, but are not limited to, LiDAR, radar, camera…

Scalable systems for automated driving have to reliably cope with an open-world setting. This means, the perception systems are exposed to drastic domain shifts, like changes in weather conditions, time-dependent aspects, or geographic…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…