相关论文: Dynamic System Identification of Underwater Vehicl…
This paper reports an attempt to model the system dynamics and estimate both the unknown internal control input and the state of a recently developed marine autonomous vehicle, the Jaiabot. Although the Jaiabot has shown promise in many…
Unmanned Aerial Vehicles (UAVs) are gaining popularity in civil and military applications. However, uncontrolled access to restricted areas threatens privacy and security. Thus, prevention and detection of UAVs are pivotal to guarantee…
A Gaussian process (GP)-based methodology is proposed to emulate complex dynamical computer models (or simulators). The method relies on emulating the numerical flow map of the system over an initial (short) time step, where the flow map is…
This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide…
Gaussian Processes (GPs) can be used as flexible, non-parametric function priors. Inspired by the growing body of work on Normalizing Flows, we enlarge this class of priors through a parametric invertible transformation that can be made…
The Gaussian process is a standard tool for building emulators for both deterministic and stochastic computer experiments. However, application of Gaussian process models is greatly limited in practice, particularly for large-scale and…
As underwater human activities are increasing, the demand for underwater communication service presents a significant challenge. Existing underwater diver communication methods face hurdles due to inherent disadvantages and complex…
Embedding non-restrictive prior knowledge, such as energy conservation laws, into learning methods is a key motive to construct physically consistent dynamics models from limited data, relevant for, e.g., model-based control. Recent work…
Port-Hamiltonian neural networks (pHNNs) are emerging as a powerful modeling tool that integrates physical laws with deep learning techniques. While most research has focused on modeling the entire dynamics of interconnected systems, the…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
This paper introduces the first publicly accessible labeled multi-modal perception dataset for autonomous maritime navigation, focusing on in-water obstacles within the aquatic environment to enhance situational awareness for Autonomous…
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…
The ability to predict future states is crucial to informed decision-making while interacting with dynamic environments. With cameras providing a prevalent and information-rich sensing modality, the problem of predicting future states from…
Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics modelling remains non-trivial, mostly in the presence of…
This work presents a study on parallel and distributional deep reinforcement learning applied to the mapless navigation of UAVs. For this, we developed an approach based on the Soft Actor-Critic method, producing a distributed and…
We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…
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…
Drowning is an omnipresent risk associated with any activity on or in the water, and rescuing a drowning person is particularly challenging because of the time pressure, making a short response time important. Further complicating water…
Over the last years, the development of Autonomous Underwater Vehicles (AUV) with attached robotic manipulators, the so-called Underwater Vehicle Manipulator System (UVMS), has gained significant research attention, due to the ability of…
Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…