相关论文: Proposed Efficient Design for Unmanned Surface Veh…

Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…

This paper presents the design, development, and experimental validation of MARVEL, an autonomous unmanned surface vehicle built for real-world testing of sensor fusion-based navigation algorithms in GNSS-denied environments. MARVEL was…

Autonomous navigation of Unmanned Surface Vehicles (USV) in marine environments with current flows is challenging, and few prior works have addressed the sensorbased navigation problem in such environments under no prior knowledge of the…

This work aims to develop a model checking method to verify the decision making system of Unmanned Surface Vehicle (USV) in a long range surveillance mission. The scenario in this work was captured from a long endurance USV surveillance…

Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…

We address the problem of achieving persistent surveillance over an environment by using energy-constrained unmanned aerial vehicles (UAVs), which are supported by unmanned ground vehicles (UGVs) serving as mobile charging stations.…

The increasing use and implementation of Autonomous Surface Vessels (ASVs) for various activities in maritime environments is expected to drive a rise in developments and research on their control. Particularly, the coordination of multiple…

Unmanned aerial vehicle (UAV) techniques have developed rapidly within the past few decades. Using UAVs provides benefits in numerous applications such as site surveying, communication systems, parcel delivery, target tracking, etc. The…

We develop an algorithm to control an underactuated unmanned surface vehicle (USV) using kinodynamic motion planning with funnel control (KDF). KDF has two key components: motion planning used to generate trajectories with respect to…

Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…

We propose a safety-guaranteed planning and control framework for unmanned surface vessels (USVs), using Gaussian processes (GPs) to learn uncertainties. The uncertainties encountered by USVs, including external disturbances and model…

Unmanned Surface Vessels (USVs) are essential for various maritime operations. USV mission planning approach offers autonomous solutions for monitoring, surveillance, and logistics. Existing approaches, which are based on static methods,…

When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…

At shipping ports, some repetitive maneuvering tasks such as entering/leaving port, transporting goods inside it or just making surveillance activities, can be efficiently and quickly carried out by a domestic pilot according to his…

This paper proposes an uncertainty-aware marine pollution source tracking framework for unmanned surface vehicles (USVs). By integrating high-fidelity marine pollution dispersion simulation with informative path planning techniques, we…

Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…

This paper presents the TransBoat, a novel omnidirectional unmanned surface vehicle (USV) with a magnetbased docking system for overwater construction with wave disturbances. This is the first such USV that can build overwater structures by…

This paper addresses the problem of robotic operations in the presence of adversarial forces. We presents a complete framework for survey operations: waypoint generation,modelling of forces and tuning the control. In many applications of…

Unmanned Aerial Vehicle (UAV) swarms are often required in off-grid scenarios, such as disaster-struck, war-torn or rural areas, where the UAVs have no access to the power grid and instead rely on renewable energy. Considering a main…

Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…