相关论文: Navigation in shallow water using passive acoustic…

A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…

This paper proposes the trajectory tracking problem between an autonomous underwater vehicle (AUV) and a mobile surface ship, both equipped with optical communication transceivers. The challenging issue is to maintain stable connectivity…

We propose Audio Noise Awareness using Visuals of Indoors for NAVIgation for quieter robot path planning. While humans are naturally aware of the noise they make and its impact on those around them, robots currently lack this awareness. A…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

Abandoned oil and gas wells pose significant environmental risks due to the potential leakage of hydrocarbons, brine and chemical pollutants. Detecting such leaks remains extremely challenging due to the weak acoustic emission and high…

Traditional sea exploration faces significant challenges due to extreme conditions, limited visibility, and high costs, resulting in vast unexplored ocean regions. This paper presents an innovative AI-powered Autonomous Underwater Vehicle…

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…

Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-Mission…

Localization of underwater networks is important in many military and civil applications. Because GPS receivers do not work below the water surface, traditional localization methods form a relative topology of underwater nodes (UWNs) and…

Underwater data infrastructures offer natural cooling and enhanced physical security compared to terrestrial facilities, but their storage systems remain susceptible to acoustic injection attacks, where sound-induced mechanical vibrations…

The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…

Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…

Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…

Establishing reliable data exchange in an underwater domain using energy and power-efficient communication methods is crucial and challenging. Radio frequencies are absorbed by the salty and mineral-rich water and optical signals are…

Precise landing of Unmanned Aerial Vehicles (UAVs) onto moving platforms like Autonomous Surface Vehicles (ASVs) is both important and challenging, especially in GPS-denied environments, for collaborative navigation of heterogeneous…

Accurate underwater localization remains a challenge for inexpensive autonomous platforms that require highfrequency position updates. In this paper, we present a robust, low-cost localization pipeline for buoyancy-driven microFloats…

The use of the `ship as a wave buoy analogy' (SAWB) provides a novel means to estimate sea states, where relationships are established between causal wave properties and vessel motion response information. This study focuses on a model-free…

This paper describes the development and experimental results of navigation algorithms for an autonomous underwater glider (AUG) that uses an on-board acoustic Doppler current profiler (ADCP). AUGs are buoyancy-driven autonomous underwater…

Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…

Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality…