相关论文: Autonomous Marine Sampling Enhanced by Strategical…

Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…

Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…

Near-real-time water-quality monitoring in uncertain environments such as rivers, lakes, and water reservoirs of different variables is critical to protect the aquatic life and to prevent further propagation of the potential pollution in…

Commonplace in oceanography is the collection of ocean drifter positions. Ocean drifters are devices that sit on the surface of the ocean and move with the flow, transmitting their position via GPS to stations on land. Using drifter data,…

Autonomous delivery of goods using a MAV is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially challenging if the exact shape, location and configuration…

Autonomous surface vessels for floating-waste removal operate under varying hydrodynamics, external disturbances, and challenging water-surface perception. We present a field-validated system that combines camera-based polarimetric…

Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…

We present an approach for autonomous sensor control for information gathering under partially observable, dynamic and sparsely sampled environments that maximizes information about entities present in that space. We describe our approach…

Passive acoustics can provide a variety of capabilities with applications in oceanographic research and maritime situational awareness. In this paper, we develop a method for the navigation of autonomous underwater vehicles (AUVs) in…

A popular way to plan trajectories in dynamic urban scenarios for Autonomous Vehicles is to rely on explicitly specified and hand crafted cost functions, coupled with random sampling in the trajectory space to find the minimum cost…

In this paper we provide a thorough, rigorous theoretical framework to assess optimality guarantees of sampling-based algorithms for drift control systems: systems that, loosely speaking, can not stop instantaneously due to momentum. We…

Autonomous surface vehicles (ASV) allow the investigation of coastal areas, ports and harbors as well as harsh and dangerous environments such as the arctic regions. Despite receiving increasing attention, the hydrodynamic analysis of ASV…

Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…

Fully re-orientable small spacecraft are now supported by commercial technologies, allowing them to point their instruments in any direction and capture images, with short notice. When combined with improved onboard processing, and…

Determining the optimal locations for placing extra observational measurements has practical significance. However, the exact underlying flow field is never known in practice. Significant uncertainty appears when the flow field is inferred…

Unmanned surface vehicles (USVs) and boats are increasingly important in maritime operations, yet their deployment is limited due to costly sensors and complexity. LiDAR, radar, and depth cameras are either costly, yield sparse point clouds…

Autonomous Vehicles (AVs) need an accurate and up-to-date representation of the environment for safe navigation. Traditional methods, which often rely on detailed environmental representations constructed offline, struggle in dynamically…

Autonomous Surface Vehicles (ASVs) provide an effective way to actualize applications such as environment monitoring, search and rescue, and scientific researches. However, the conventional ASVs depends overly on the stored energy. Hybrid…

In this paper we address the mine countermeasures (MCM) search problem for an autonomous underwater vehicle (AUV) surveying the seabed using a side-looking sonar. We propose a coverage path planning method that adapts the AUV track spacing…

Motion planning for vehicles under the influence of flow fields can benefit from the idea of streamline-based planning, which exploits ideas from fluid dynamics to achieve computational efficiency. Important to such planners is an efficient…