相关论文: Real-time Autonomous Glider Navigation Software
A new era of space exploration and exploitation is fast approaching. A multitude of spacecraft will flow in the future decades under the propulsive momentum of the new space economy. Yet, the flourishing proliferation of deep-space assets…
Unmapped areas and aerodynamic disturbances render autonomous navigation with quadrotors extremely challenging. To fly safely and efficiently, trajectory planners and trackers must be able to navigate unknown environments with unpredictable…
Reliable navigation in unstructured, real-world environments remains a significant challenge for embodied agents, especially when operating across diverse terrains, weather conditions, and sensor configurations. In this paper, we introduce…
Commonplace in oceanography is the collection of ocean drifter positions. Ocean drifters are devices that sit on the surface of the ocean and move with the flow, transmitting their position via GPS to stations on land. Using drifter data,…
Using underwater robots instead of humans for the inspection of coastal piers can enhance efficiency while reducing risks. A key challenge in performing these tasks lies in achieving efficient and rapid path planning within complex…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way…
A new AUV mission planning and execution software has been tested on AUV Sentry. Dubbed DINOS-R, it draws inspiration from cognitive architectures and AUV control systems to replace the legacy MC architecture. Unlike these existing…
This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…
This paper discusses opportunities to parallelize graph based path planning algorithms in a time varying environment. Parallel architectures have become commonplace, requiring algorithm to be parallelized for efficient execution. An…
Accurate inference of human intent enables human-robot collaboration without constraining human control or causing conflicts between humans and robots. We present GUIDER (Global User Intent Dual-phase Estimation for Robots), a probabilistic…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
Autonomous vehicles require accurate and robust localization and mapping algorithms to navigate safely and reliably in urban environments. We present a novel sensor fusion-based pipeline for offline mapping and online localization based on…
Autonomous aerial navigation in dense natural environments remains challenging due to limited visibility, thin and irregular obstacles, GNSS-denied operation, and frequent perceptual degradation. This work presents an improved deep…
Underwater robots are subject to position drift due to the effect of ocean currents and the lack of accurate localisation while submerged. We are interested in exploiting such position drift to estimate the ocean current in the surrounding…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
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…