相关论文: Autonomous Navigation in Confined Waters -- A COLR…
Motion planning failures during autonomous navigation often occur when safety constraints are either too conservative, leading to deadlocks, or too liberal, resulting in collisions. To improve robustness, a robot must dynamically adapt its…
This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and…
Human decision-making errors cause a majority of globally reported marine accidents. As a result, automation in the marine industry has been gaining more attention in recent years. Obstacle avoidance becomes very challenging for an…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
Efficiently training quadruped robot navigation in densely cluttered environments remains a significant challenge. Existing methods are either limited by a lack of safety and agility in simple obstacle distributions or suffer from slow…
In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…
Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…
Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…
Unmanned surface vessels USVs are typically autonomous or remotely operated and are specifically designed for environmental monitoring in various aquatic environments Aquaculture requires constant monitoring and management of water quality…
The ability to navigate, search, and monitor dynamic marine environments such as ports, deltas, tributaries, and rivers presents several challenges to both human operated and autonomously operated surface vehicles. Human data collection and…
Path Following and Collision Avoidance, be it for unmanned surface vessels or other autonomous vehicles, are two fundamental guidance problems in robotics. For many decades, they have been subject to academic study, leading to a vast number…
Ice conditions often require ships to reduce speed and deviate from their main course to avoid damage to the ship. In addition, broken ice fields are becoming the dominant ice conditions encountered in the Arctic, where the effects of…
The transport industry has recently shown significant interest in unmanned surface vehicles (USVs), specifically for port and inland waterway transport. These systems can improve operational efficiency and safety, which is especially…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
Advancing towards high automation and autonomous operations is crucial for the future of inland waterway transport (IWT) systems. These systems necessitate robust and precise onboard sensory technologies that can perceive the environment…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
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…
Vessels navigating in confined waters are subject to banking effects, which are hydrodynamic forces and moments arising from pressure differentials between the vessel sides, significantly affecting manoeuvrability and safety. Existing…
Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…
Many autonomous systems face safety challenges, requiring robust closed-loop control to handle physical limitations and safety constraints. Real-world systems, like autonomous ships, encounter nonlinear dynamics and environmental…