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Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…

This research proposes a novel approach utilizing Orbital Angular Momentum (OAM) beams to enhance Radar Cross Section (RCS) diversity for target detection in future transportation systems. Unlike conventional OAM beams with hollow-shaped…

In this paper, we present the design and development of an undersea camera system. The goal of our system is to provide a 3D model of the undersea habitat in a long-term continuous manner. The most important feature of our system is the use…

Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…

As an autonomous vehicles, Unmanned Aerial Vehicles (UAVs) are subjected to several challenges. One of the challenges is for UAV to be able to avoid collision. Many collision avoidance methods have been proposed to address this issue.…

Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically designed for fast autonomous reconstruction of complex…

This paper presents our method for enabling a UAV quadrotor, equipped with a monocular camera, to autonomously avoid collisions with obstacles in unstructured and unknown indoor environments. When compared to obstacle avoidance in ground…

Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…

Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…

Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…

Due to the trending need of building autonomous robotic perception system, sensor fusion has attracted a lot of attention amongst researchers and engineers to make best use of cross-modality information. However, in order to build a robotic…

Multi-array systems are widely used in sonar and radar applications. They can improve communication speeds, target discrimination, and imaging. In the case of a multibeam sonar system that can operate two receiving arrays, we derive new…

Advances in machine learning and deep neural networks for object detection, coupled with lower cost and power requirements of cameras, led to promising vision-based solutions for sUAS detection. However, solely relying on the visible…

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…

Micro unmanned aerial vehicles (mUAV) became very common in recent years. As a result of their widespread usage, when they are flown by hobbyists illegally, crucial risks are imposed and such mUAVs need to be sensed by security systems.…

Optical beam steering enables optical detection and imaging in macroscopic or microscopic scales and long-range communication over free space. It underpins numerous optical applications, including LiDAR, biomedical imaging, and remote…

A key challenge for current and upcoming CMB lensing measurements is their sensitivity to biases from extragalactic foregrounds, such as Sunyaev-Zeldovich (SZ) signals or cosmic infrared background emission. Several methods have been…

The joint design of the optical system and the downstream algorithm is a challenging and promising task. Due to the demand for balancing the global optimal of imaging systems and the computational cost of physical simulation, existing…

As passenger vehicle technologies have advanced, so have their capabilities to avoid obstacles, especially with developments in tires, suspensions, steering, as well as safety technologies like ABS, ESC, and more recently, ADAS systems.…

Interest in unmanned aerial system (UAS) powered solutions for 6G communication networks has grown immensely with the widespread availability of machine learning based autonomy modules and embedded graphical processing units (GPUs). While…