相关论文: Autonomous Marine Sampling Enhanced by Strategical…

Autonomous navigation in marine environments can be extremely challenging, especially in the presence of spatially varying flow disturbances and dynamic and static obstacles. In this work, we demonstrate that incorporating local flow field…

Climate change has increased the frequency and severity of extreme weather events such as hurricanes and winter storms. The complex interplay of floods with tides, runoff, and sediment creates additional hazards -- including erosion and the…

In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and decompose the cooperative transport problem…

This paper presents the integration of flow field reconstruction, dynamic probabilistic modeling, search control, and machine vision detection in a system for autonomous maritime search operations. Field experiments conducted in Valun Bay…

The energy of ocean waves is the key distinguishing factor of marine environments compared to other aquatic environments such as lakes and rivers. Waves significantly affect the dynamics of marine vehicles; hence it is imperative to…

Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…

Environmental monitoring and surveying operations on rivers currently are performed primarily with manually-operated boats. In this domain, autonomous coverage of areas is of vital importance, for improving both the quality and the…

We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…

Micro Autonomous Surface Vehicles (MicroASVs) offer significant potential for operations in confined or shallow waters and swarm robotics applications. However, achieving precise and robust control at such small scales remains highly…

This study proposes an efficient data collection strategy exploiting a team of Unmanned Aerial Vehicles (UAVs) to monitor and collect the data of a large distributed sensor network usually used for environmental monitoring, meteorology,…

A recurrent task in coordinated systems is managing (estimating, predicting, or controlling) signals that vary in space, such as distributed sensed data or computation outcomes. Especially in large-scale settings, the problem can be…

This paper presents preliminary results towards the development of an autonomous ocean observing system using Miniature Underwater Gliders (MUGs) that can operate with the support of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface…

Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…

Despite the increasing adoption of Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), there still remain challenges limiting real-world deployment. In this paper, we first integrate buoyancy and hydrodynamics models…

Modern autonomous vehicles (AVs) often rely on vision, LIDAR, and even radar-based simultaneous localization and mapping (SLAM) frameworks for precise localization and navigation. However, modern SLAM frameworks often lead to unacceptably…

With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in the near future. However, it is still challenging for ASVs…

Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…

The transport industry has recently shown significant interest in unmanned surface vehicles (USVs), specifically for port and inland waterway transport. These systems can improve operational efficiency and safety, which is especially…

In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable.…

The use of Autonomous Surface Vessels (ASVs) is growing rapidly. For safe and efficient surface auto-driving, a reliable perception system is crucial. Such systems allow the vessels to sense their surroundings and make decisions based on…