相关论文: AquaVis: A Perception-Aware Autonomous Navigation …

Recent advances in efficient design, perception algorithms, and computing hardware have made it possible to create improved human-robot interaction (HRI) capabilities for autonomous underwater vehicles (AUVs). To conduct secure missions as…

Small-sized unmanned surface vehicles (USV) are coastal water devices with a broad range of applications such as environmental control and surveillance. A crucial capability for autonomous operation is obstacle detection for timely reaction…

Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…

A critical challenge in deploying unmanned aerial vehicles (UAVs) for autonomous tasks is their ability to navigate in an unknown environment. This paper introduces a novel vision-depth fusion approach for autonomous navigation on…

Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…

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…

Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…

Autonomous Underwater Vehicles (AUVs) commonly utilize an inertial navigation system (INS) and a Doppler velocity log (DVL) for underwater navigation. To that end, their measurements are integrated through a nonlinear filter such as the…

This paper presents a novel end-to-end Unmanned Aerial System (UAS) navigation approach for long-range visual navigation in the real world. Inspired by dual-process visual navigation system of human's instinct: environment understanding and…

Object goal navigation (ObjectNav) in unseen environments is a fundamental task for Embodied AI. Agents in existing works learn ObjectNav policies based on 2D maps, scene graphs, or image sequences. Considering this task happens in 3D…

The design of autonomous underwater vehicles (AUVs) and their docking stations has been a popular research topic for several decades. Although many AUV and dock designs have been proposed, materialized, and commercialized, most of these…

Detection and tracking of dynamic objects is a key feature for autonomous behavior in a continuously changing environment. With the increasing popularity and capability of micro aerial vehicles (MAVs) efficient algorithms have to be…

In autonomous driving, accurately estimating the state of surrounding obstacles is critical for safe and robust path planning. However, this perception task is difficult, particularly for generic obstacles/objects, due to appearance and…

In this paper, we present CaveSeg - the first visual learning pipeline for semantic segmentation and scene parsing for AUV navigation inside underwater caves. We address the problem of scarce annotated training data by preparing a…

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…

Audio-Visual Embodied Navigation aims to enable agents to autonomously navigate to sound sources in unknown 3D environments using auditory cues. While current AVN methods excel on in-distribution sound sources, they exhibit poor…

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…

Modern Unmanned Aerial Vehicles equipped with state of the art artificial intelligence (AI) technologies are opening to a wide plethora of novel and interesting applications. While this field received a strong impact from the recent AI…

This paper studies an optimal autonomous underwater vehicule (AUV) path planning method for both reducing average delay before pollutants detection in underwater mining, oil or gas fields and reducing AUV occupancy time. The proposed…

Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…