相关论文: Marine Vehicles Localization Using Grid Cells for …

This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…

This study introduces a connective model of routing -- local path planning for Autonomous Underwater Vehicle (AUV) time efficient maneuver in long-range operations. Assuming the vehicle operating in a turbulent underwater environment, the…

Inertial and Doppler velocity log sensors are commonly used to provide the navigation solution for autonomous underwater vehicles (AUV). To this end, a nonlinear filter is adopted for the fusion task. The filter's process noise covariance…

Teams of cooperating autonomous underwater vehicles (AUVs) rely on acoustic communication for coordination, yet this communication medium is constrained by limited range, multi-path effects, and low bandwidth. One way to address the…

A new obstacle detection algorithm for unmanned surface vehicles (USVs) is presented. A state-of-the-art graphical model for semantic segmentation is extended to incorporate boat pitch and roll measurements from the on-board inertial…

Positioning of underwater robots in confined and cluttered spaces remains a key challenge for field operations. Existing systems are mostly designed for large, open-water environments and struggle in industrial settings due to poor…

There is an increasing demand for piloted autonomous underwater vehicles (AUVs) to operate in polar ice conditions. At present, AUVs are deployed from ships and directly human-piloted in these regions, entailing a high carbon cost and…

Autonomous Underwater Robots (AURs) operate in challenging underwater environments, including low visibility and harsh water conditions. Such conditions present challenges for software engineers developing perception modules for the AUR…

Autonomous navigation in complex and partially observable environments remains a central challenge in robotics. Several bio-inspired models of mapping and navigation based on place cells in the mammalian hippocampus have been proposed. This…

Docking control of an autonomous underwater vehicle (AUV) is a task that is integral to achieving persistent long term autonomy. This work explores the application of state-of-the-art model-free deep reinforcement learning (DRL) approaches…

Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…

Vehicle localization is essential for autonomous vehicle (AV) navigation and Advanced Driver Assistance Systems (ADAS). Accurate vehicle localization is often achieved via expensive inertial navigation systems or by employing…

This paper presents a novel Long Baseline (LBL) position and velocity navigation filter for underwater vehicles based directly on the sensor measurements. The solution departs from previous approaches as the range measurements are…

We propose a novel technique for guidance of buoyancy-controlled vehicles in uncertain under-ice ocean flows. In-situ melt rate measurements collected at the grounding zone of Antarctic ice shelves, where the ice shelf meets the underlying…

A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…

To explore oceans on ice-covered moons in the solar system, energy-efficient Autonomous Underwater Vehicles (AUVs) with long ranges must cover enough distance to record and collect enough data. These usually underactuated vehicles are hard…

Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for…

Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…