相关论文: Deployable, Data-Driven Unmanned Vehicle Navigatio…
Unmanned Surface Vehicles (USVs) have emerged as a major platform in maritime operations, capable of supporting a wide range of applications. USVs can help reduce labor costs, increase safety, save energy, and allow for difficult unmanned…
In this paper, we investigate using Ultra-Wideband (UWB) technology in vehicles for localization as well as other possible infrastructure-free applications. To that end, we first introduce the on-vehicle UWB anchor layout, then conduct a…
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…
This article presents novel designs of autonomous UAV prototypes specifically developed for inspecting GPS-denied tunnel construction environments with dynamic human and robotic presence. Our UAVs integrate advanced sensor suites and robust…
This paper presents an autonomous aerial system specifically engineered for operation in challenging marine GNSS-denied environments, aimed at transporting small cargo from a target vessel. In these environments, characterized by weakly…
Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…
In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to…
We present an unsupervised adaptation approach for visual scene understanding in unstructured traffic environments. Our method is designed for unstructured real-world scenarios with dense and heterogeneous traffic consisting of cars,…
Compared to conventional decomposition methods that use ellipses or polygons to represent free space, starshaped representation can better capture the natural distribution of sensor data, thereby exploiting a larger portion of traversable…
We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…
Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by GNSS degradation, environment-induced localisation…
This study presents a new methodology for learning-based motion planning for autonomous exploration using aerial robots. Through the reinforcement learning method of learning through trial and error, the action policy is derived that can…
Autonomous underwater navigation remains a challenging problem due to limited sensing capabilities and the difficulty of constructing accurate maps in underwater environments. In this paper, we propose a Diffusion-based Underwater Visual…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However,…
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…
Reliable long-range flight of unmanned aerial vehicles (UAVs) in GNSS-denied environments is challenging: integrating odometry leads to drift, loop closures are unavailable in previously unseen areas and embedded platforms provide limited…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…