相关论文: Real-time Autonomous Glider Navigation Software
Ocean ecosystems have spatiotemporal variability and dynamic complexity that require a long-term deployment of an autonomous underwater vehicle for data collection. A new long-range autonomous underwater vehicle called Tethys is adapted to…
Unmanned Surface Vehicles (USVs) in the ocean environment, considering various spatiotemporal factors such as ocean currents and other energy consumption factors. The paper uses Gaussian Process Motion Planning (GPMP2), a Bayesian…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface…
Gliding offers small fixed-wing UAVs extended endurance and silent operation but requires accurate energy management, especially under wind disturbances and obstacle constraints. Traditional Total Energy Control Systems based controllers…
A fundamental requirement for full autonomy is the ability to sustain accurate navigation in the absence of external data, such as GNSS signals or visual information. In these challenging environments, the platform must rely exclusively on…
This paper describes an Open Source Software (OSS) project: PythonRobotics. This is a collection of robotics algorithms implemented in the Python programming language. The focus of the project is on autonomous navigation, and the goal is…
We address the challenge of computing search paths in real-time for subsea applications where the goal is to locate an unknown number of targets on the seafloor. Our approach maximizes a formal definition of search effectiveness given…
Unsustainable exploitation of the oceans exacerbated by global warming is threatening coastal communities worldwide. Accurate and timely monitoring of maritime activity is an essential step to effective governance and to inform future…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
Autonomous Unmanned Underwater Vehicles (UUVs) enable military and civilian covert operations in coastal areas without relying on support vessels or Global Navigation Satellite Systems (GNSS). Such operations are critical when surface…
Ensuring the safety and certifiability of autonomous surface vessels (ASVs) requires robust decision-making systems, supported by extensive simulation, testing, and validation across a broad range of scenarios. However, the current…
Unpredictable and complex aerodynamic effects pose significant challenges to achieving precise flight control, such as the downwash effect from upper vehicles to lower ones. Conventional methods often struggle to accurately model these…
In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures.…
In the shipping digitalisation process, the peak will be reached with the advent of a wholly autonomous and at the same time safe and reliable ship. Full autonomy could be obtained by two linked Artificial-Intelligence systems representing…
A new dynamic control algorithm in order to direct the trajectory of a glider to a pre-assigned target point is proposed. The algorithms runs iteratively and the approach to the target point is self-correcting. The algorithm is applicable…
Autonomous navigation in ice-covered waters poses significant challenges due to the frequent lack of viable collision-free trajectories. When complete obstacle avoidance is infeasible, it becomes imperative for the navigation strategy to…
Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sensors utilised by robots compromises path efficiency. We…
In many kinds of research, collecting data is tailored to individual research. It is usual to use dedicated and not reusable software to collect data. GrADyS Ground Station framework (GrADyS-GS) aims to collect data in a reusable manner…
Autonomous ships are essentially designed and equipped to perceive their internal and external environment and subsequently perform appropriate actions depending on the predetermined objective(s) without human intervention. Consequently,…