相关论文: SUAVE: An Exemplar for Self-Adaptive Underwater Ve…
The recent advance in autonomous underwater robotics facilitates autonomous inspection tasks of offshore infrastructure. However, current inspection missions rely on predefined plans created offline, hampering the flexibility and autonomy…
This paper investigates using satellite data to improve adaptive sampling missions, particularly for front tracking scenarios such as with algal blooms. Our proposed solution to find and track algal bloom fronts uses an Autonomous…
Using autonomous underwater vehicles, or AUVs, has completely changed how we gather data from the ocean floor. AUV innovation has advanced significantly, especially in the analysis of images, due to the increasing need for accurate and…
The purpose of this paper is to provide a hierarchical dynamic mission planning framework for a single autonomous underwater vehicle (AUV) to accomplish task-assign process in a limited time interval while operating in an uncertain undersea…
Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…
The use of Autonomous Surface Vehicles, equipped with water quality sensors and artificial vision systems, allows for a smart and adaptive deployment in water resources environmental monitoring. This paper presents a real implementation of…
Autonomous Underwater Vehicles (AUVs) conduct regular visual surveys of marine environments to characterise and monitor the composition and diversity of the benthos. The use of machine learning classifiers for this task is limited by the…
Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system…
This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…
We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewable sources of lift are sought. One…
This paper presents a scalable acoustic navigation approach for the unified command, control and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually, by…
Autonomous underwater vehicles (AUVs) are subject to various sources of faults during their missions, which challenges AUV control and operation in real environments. This paper addresses fault-tolerant trajectory tracking of autonomous…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of…
The performance of a guidance, navigation and control (GNC) system of an autonomous underwater vehicle (AUV) heavily depends on the correct tuning of its parameters. Our objective is to automatically tune these parameters with respect to…
One of the major restrictions on the practical applications of unmanned aerial vehicles (UAV) is their incomplete self-sufficiency, which makes continuous operations infeasible without human oversights. The more oversight UAVs require, the…