相关论文: A Diver Attention Estimation Framework for Effecti…

Autonomous underwater vehicles (AUVs) are used in a wide range of underwater applications, ranging from seafloor mapping to industrial operations. While underwater, the AUV navigation solution commonly relies on the fusion between inertial…

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…

Autonomous Underwater Vehicles (AUVs) are essential for marine exploration, yet their control remains highly challenging due to nonlinear dynamics and uncertain environmental disturbances. This paper presents a diffusion-augmented…

As automated vehicles (AVs) increasingly integrate into mixed-traffic environments, evaluating their interaction with human-driven vehicles (HDVs) becomes critical. In most research focused on developing new AV control algorithms…

Trash deposits in aquatic environments have a destructive effect on marine ecosystems and pose a long-term economic and environmental threat. Autonomous underwater vehicles (AUVs) could very well contribute to the solution of this problem…

In recent years, autonomous underwater vehicle (AUV) systems have demonstrated significant potential in complex marine exploration. However, effective AUV-based tracking remains challenging in realistic underwater environments characterized…

Due to real-world dynamics and hardware uncertainty, robots inevitably fail in task executions, resulting in undesired or even dangerous executions. In order to avoid failures and improve robot performance, it is critical to identify and…

Human visual system can selectively attend to parts of a scene for quick perception, a biological mechanism known as Human attention. Inspired by this, recent deep learning models encode attention mechanisms to focus on the most…

Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…

Improving decision-making capabilities in Autonomous Intelligent Vehicles (AIVs) has been a heated topic in recent years. Despite advancements, training machines to capture regions of interest for comprehensive scene understanding, like…

Although attention mechanisms have become fundamental components of deep learning models, they are vulnerable to perturbations, which may degrade the prediction performance and model interpretability. Adversarial training (AT) for attention…

Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…

Self-attention is one of the most successful designs in deep learning, which calculates the similarity of different tokens and reconstructs the feature based on the attention matrix. Originally designed for NLP, self-attention is also…

Hand gestures play a significant role in human interactions where non-verbal intentions, thoughts and commands are conveyed. In Human-Robot Interaction (HRI), hand gestures offer a similar and efficient medium for conveying clear and rapid…

This research report explores the role of eye gaze in human-robot interactions and proposes a learning system for detecting objects gazed at by humans using solely visual feedback. The system leverages face detection, human attention…

This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling,…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

Dynamic hand gestures play a pivotal role in assistive human-robot interaction (HRI), facilitating intuitive, non-verbal communication, particularly for individuals with mobility constraints or those operating robots remotely. Current…

Autonomous underwater vehicles (AUV) perform various applications such as seafloor mapping and underwater structure health monitoring. Commonly, an inertial navigation system aided by a Doppler velocity log (DVL) is used to provide the…

Attention mechanism has recently attracted increasing attentions in the field of facial action unit (AU) detection. By finding the region of interest of each AU with the attention mechanism, AU-related local features can be captured. Most…