相关论文: Autonomous Navigation in Confined Waters -- A COLR…
Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way…
This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
The maritime sector is undergoing a disruptive technological change driven by three main factors: autonomy, decarbonization, and digital transformation. Addressing these factors necessitates a reassessment of inland vessel operations. This…
Passive acoustics can provide a variety of capabilities with applications in oceanographic research and maritime situational awareness. In this paper, we develop a method for the navigation of autonomous underwater vehicles (AUVs) in…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…
Understanding how environmental and operational conditions influence vessel speed is crucial for characterizing navigational conditions in the Arctic. We analyzed Automatic Identification System (AIS) data from 2010-2019 to examine vessel…
Deep-sea exploration poses significant challenges, including disorientation, communication loss, and navigational failures in dynamic underwater environments. This paper presents an Autonomous Underwater Cognitive System (AUCS) that…
Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown promise in training policies for specific autonomous robots,…
Collision avoidance in heterogeneous fleets of uncrewed vessels is challenging because the decision-making processes and controllers often differ between platforms, and it is further complicated by the limitations on sharing trajectories…
Manipulation in confined and cluttered environments remains a significant challenge due to partial observability and complex configuration spaces. Effective manipulation in such environments requires an intelligent exploration strategy to…
This paper presents a multi-sensor architecture with an adaptive multi-sensor management system suitable for control and navigation of autonomous maritime vessels in hazy and poor-visibility conditions. This architecture resides in the…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
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…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
In today's world, circumstances, processes, and requirements for software systems are becoming increasingly complex. In order to operate properly in such dynamic environments, software systems must adapt to these changes, which has led to…
Ships, or vessels, often sail in and out of cluttered environments over the course of their trajectories. Safe navigation in such cluttered scenarios requires an accurate estimation of the intent of neighboring vessels and their effect on…
Underwater navigation is a challenging area in the field of mobile robotics due to inherent constraints in self-localisation and communication in underwater environments. Some of these challenges can be mitigated by using collaborative…
We design new navigation strategies for travel time optimization of microscopic self-propelled particles in complex and noisy environments. In contrast to strategies relying on the results of optimal control theory, these protocols allow…