相关论文: Autonomous Underwater Vehicle-Manipulator Systems …

In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of model-based…

This paper reports the development of a new open-access modular framework, called Marine Vehicle Packages (MVP), for Autonomous Underwater Vehicles. The framework consists of both software and hardware designs allowing easy construction of…

Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating…

Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…

There is an increasing demand for using Unmanned Aerial Vehicle (UAV), known as drones, in different applications such as packages delivery, traffic monitoring, search and rescue operations, and military combat engagements. In all of these…

This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…

Autonomous underwater vehicles (AUVs) are essential for various applications, including oceanographic surveys, underwater mapping, and infrastructure inspections. Accurate and robust navigation are critical to completing these tasks. To…

It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…

Unmanned Surface Vehicles (USVs) have become critical tools for marine exploration, environmental monitoring, and autonomous navigation. Accurate estimation of wave direction is essential for improving USV navigation and ensuring…

Autonomous Underwater Vehicles (AUVs) are platforms used for research and exploration of marine environments. However, these types of vehicles face many challenges that hinder their widespread use in the industry. One of the main…

Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…

Current advancements in waterborne autonomous systems, together with the development of cloud-based service-oriented architectures and the recent availability of low-cost underwater acoustic modems and long-range above water wireless…

Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…

We present a tool AUTONAV that automates the mapping, localization, and path-planning tasks for autonomous navigation of robots. The modular architecture allows easy integration of various algorithms for these tasks for comparison. We…

Recent advancements in large language models (LLMs) have empowered autonomous web agents to execute natural language instructions directly on real-world webpages. However, existing agents often struggle with complex tasks involving dynamic…

Large environments are challenging for path planning algorithms as the size of the configuration space increases. Furthermore, if the environment is mainly unexplored, large amounts of the path are planned through unknown areas. Hence, a…

Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…

Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…

Mainstream autonomous exploration methods usually perform excessively-repeated explorations for the same region, leading to long exploration time and exploration trajectory in complex scenes. To handle this issue, we propose a novel…

This thesis presents the development of ARGUS, a framework for mission planning for Unmanned Ground Vehicles (UGVs) in tactical environments. The system is designed to translate battlefield complexity and the commander's intent into…