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

Existing works have explored the anchor deployment for autonomous underwater vehicles (AUVs) localization under the assumption that the sound propagates straightly underwater at a constant speed. Considering that the underwater acoustic…

In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…

Within the next several years, there will be a high level of autonomous technology that will be available for widespread use, which will reduce labor costs, increase safety, save energy, enable difficult unmanned tasks in harsh…

Path planning is crucial for the navigation of autonomous vehicles, yet these vehicles face challenges in complex and real-world environments. Although a global view may be provided, it is often outdated, necessitating the reliance of…

Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…

Deep learning-based methods are growing prominence for planning purposes. In this paper, we present a hybrid planner that combines a graph machine learning model and an optimal solver based on branch and bound tree search for path-planning…

Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating specific coral species of interest remains difficult: target species are often sparsely distributed across the reef, and an AUV with…

Recently, reinforcement learning (RL) has been extensively studied and achieved promising results in a wide range of control tasks. Meanwhile, autonomous underwater vehicle (AUV) is an important tool for executing complex and challenging…

The use of autonomous underwater vehicles (AUVs) to accomplish traditionally challenging and dangerous tasks has proliferated thanks to advances in sensing, navigation, manipulation, and on-board computing technologies. Utilizing AUVs in…

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…

In this work, we present an aided inertial navigation system for an autonomous underwater vehicle (AUV) using an unscented Kalman filter on manifolds (UKF-M). The inertial navigation estimate is aided by a Doppler velocity log (DVL), depth…

This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…

An integrity-based path planning strategy for autonomous ground vehicle (AGV) navigation in urban environments is developed. The vehicle is assumed to navigate by utilizing cellular long-term evolution (LTE) signals in addition to Global…

In this work, we tackle the problem of modeling the vehicle environment as dynamic occupancy grid map in complex urban scenarios using recurrent neural networks. Dynamic occupancy grid maps represent the scene in a bird's eye view, where…

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…

Geopositioning and tracking a moving boat at sea is a very challenging problem, requiring boat detection, matching and estimating its GPS location from imagery with no common features. The problem can be stated as follows: given imagery…

Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…

Underwater Unmanned Vehicles (UUVs) have to constantly compensate for the external disturbing forces acting on their body. Adaptive Control theory is commonly used there to grant the control law some flexibility in its response to process…

Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…