相关论文: Establishing and Maintaining a Reliable Optical Wi…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
This paper proposes mean field models to maintain an accurate line-of-sight and tracking between transceivers mounted in mobile unmanned aerial vehicles (UAVs) platforms in the presence of underlying mechanical vibration effects. We…
Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…
Underwater imagery has enabled numerous civilian applications in various domains, ranging from academia to industry, and from industrial surveillance and maintenance to environmental protection and behavior of marine creatures studies. The…
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…
The Internet of Underwater Things (IoUT) supports ocean sensing and offshore monitoring but requires coordinated mobility and energy-aware communication to sustain long-term operation. This letter proposes a multi-AUV framework that jointly…
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…
The rapid expansion of oceanic applications such as underwater surveillance and mineral exploration is driving the need for real-time wireless backhaul of massive observational data. Such demands are challenging to meet using the narrowband…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
This paper presents a scalable acoustic navigation approach for the unified command, control and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually, by…
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…
Underwater sensor networks (UWSNs) are of interest to gather data from underwater sensor nodes (SNs) and deliver information to a terrestrial access point (AP) in the uplink transmission, and transfer data from the AP to the SNs in the…
Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…
Autonomous underwater vehicles (AUVs) are subject to various sources of faults during their missions, which challenges AUV control and operation in real environments. This paper addresses fault-tolerant trajectory tracking of autonomous…
Unmanned aerial vehicle (UAV) communication is anticipated to be widely applied in the forthcoming fifth-generation (5G) wireless networks, due to its many advantages such as low cost, high mobility, and on-demand deployment. However, the…
Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support…
We present a safety-oriented framework for autonomous underwater vehicles (AUVs) that improves localization accuracy, enhances trajectory prediction, and supports efficient search operations during communication loss. Acoustic signals…
Intensified underwater activities have driven the escalating demand for reliable, flexible, and high data-rate underwater communication links. Optical wireless communication (OWC) emerges as the most promising technology for short- to…
Light-Emitting Diodes (LEDs) based underwater optical wireless communications (UOWCs), a technology with low latency and high data rates, have attracted significant importance for underwater robots. However, maintaining a controlled line of…