相关论文: Reconfigurable Robots for Scaling Reef Restoration

This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…

Rescue vessels are the main actors in maritime safety and rescue operations. At the same time, aerial drones bring a significant advantage into this scenario. This paper presents the research directions of the AutoSOS project, where we work…

Long-distance driving is an important component of planetary surface exploration. Unforeseen events often require human operators to adjust mobility plans, but this approach does not scale and will be insufficient for future missions.…

Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…

In this report, we present the system design, operational strategy, and results of coordinated multi-vehicle field demonstrations of autonomous marine robotic technologies in search-for-life missions within the Pacific shelf margin of Costa…

Crown-of-Thorn Starfish (COTS) outbreaks are a major cause of coral loss on the Great Barrier Reef (GBR) and substantial surveillance and control programs are ongoing to manage COTS populations to ecologically sustainable levels. In this…

Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…

Ground-based solar image restoration is a computationally expensive procedure that involves nonlinear optimization techniques. The presence of atmospheric turbulence produces perturbations in individual images that make it necessary to…

Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…

The application of GNC devices on small robots is a game-changer that enables these robots to be mobile on low-gravity planetary surfaces and small bodies. Use of reaction wheels enables these robots to roll, hop, summersault and rest on…

Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for different types of industrial applications. The generally high cost of (AUVs) restricts the access to them and therefore advances in research and technological…

Autonomous navigation of Unmanned Surface Vehicles (USV) in marine environments with current flows is challenging, and few prior works have addressed the sensorbased navigation problem in such environments under no prior knowledge of the…

Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…

Shallow water and coastal aquatic ecosystems such as coral reefs and seagrass meadows play a critical role in regulating and understanding Earth's changing climate and biodiversity. They also play an important role in protecting towns and…

This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface…

Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…

An innovative evolutionary method for the dynamic control of reconfigurable intelligent surfaces (RISs) is proposed. It leverages, on the one hand, on the exploration capabilities of evolutionary strategies and their effectiveness in…

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…

Maritime communication is becoming a vital component of 6G networks, driven by the rapid expansion of the maritime economy. However, existing technologies face critical challenges in signal coverage, availability, and robustness, especially…

When robots handle navigation tasks while avoiding collisions, they perform in crowded and complex environments not as good as in stable and homogeneous environments. This often results in a low success rate and poor efficiency. Therefore,…