相关论文: Real-time Autonomous Glider Navigation Software

Accurate navigation is essential for autonomous robots and vehicles. In recent years, the integration of the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), and camera has garnered considerable attention due to…

Image-goal navigation enables a robot to reach the location where a target image was captured, using visual cues for guidance. However, current methods either rely heavily on data and computationally expensive learning-based approaches or…

This article presents the design and real-time implementation of an optimal controller for precise steering control of a remotely operated underwater vehicle (ROV). A PI controller is investigated to achieve the desired steering…

Deep vision models are now mature enough to be integrated in industrial and possibly critical applications such as autonomous navigation. Yet, data collection and labeling to train such models requires too much efforts and costs for a…

In underwater navigation, accurate heading information is crucial for accurately and continuously tracking trajectories, especially during extended missions beneath the waves. In order to determine the initial heading, a gyrocompassing…

Motion planning for aerial manipulators in constrained environments has typically been limited to known environments or simplified to that of multi-rotors, which leads to poor adaptability and overly conservative trajectories. This paper…

Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the sim-to-real gap and the difficulty of training policies tailored to target deployment environments (e.g., households, restaurants,…

In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…

This paper aims to improve the path quality and computational efficiency of sampling-based kinodynamic planners for vehicular navigation. It proposes a learning framework for identifying promising controls during the expansion process of…

Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…

Autonomous navigation in congested maritime environments is a critical capability for a wide range of real-world applications. However, it remains an unresolved challenge due to complex vessel interactions and significant environmental…

Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

There has been substantial growth in the UAV market along with an expansion in their applications. However, the successful execution of a UAV mission is very often dependent on the use of a GNSS. Unfortunately, the vulnerability of GNSS…

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…

Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…

The work analyzes existing methods for increasing the accuracy of determining weekend navigation parameters of unmanned underwater vehicles. It is proposed to retrofit the navigation system with an additional hydrodynamic tilt unit, which…

Sampling errors are inevitable when measuring the ocean; thus, to achieve a trustable set of observations requires a quality control (QC) procedure capable to detect spurious data. While manual QC by human experts minimizes errors, it is…

A recent advance in networking is the deployment of path-aware multipath network architectures, where network endpoints are given multiple network paths to send their data on. In this work, we tackle the challenge of selecting paths for…

This paper presents a three-dimensional (3D) energy-optimal path-following control design for autonomous underwater vehicles subject to ocean currents. The proposed approach has a two-stage control architecture consisting of the setpoint…