相关论文: Formal Modelling and Analysis of a Self-Adaptive R…
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…
Today AUVs operation still remains restricted to very particular tasks with low real autonomy due to battery restrictions. Efficient motion planning and mission scheduling are principle requirement toward advance autonomy and facilitate the…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
Non-parametric system identification with Gaussian Processes for underwater vehicles is explored in this research with the purpose of modelling autonomous underwater vehicle (AUV) dynamics with low amount of data. Multi-output Gaussian…
Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…
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…
Underwater robotic manipulation faces significant challenges due to complex fluid dynamics and unstructured environments, causing most manipulation systems to rely heavily on human teleoperation. In this paper, we introduce AquaBot, a fully…
Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…
Flapping-fin unmanned underwater vehicle (UUV) propulsion systems provide high maneuverability for naval tasks such as surveillance and terrain exploration. Recent work has explored the use of time-series neural network surrogate models to…
Coral reefs are fast-changing and complex ecosystems that are crucial to monitor and study. Biological hotspot detection can help coral reef managers prioritize limited resources for monitoring and intervention tasks. Here, we explore the…
Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…
This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…
Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…
The last few decades have led to the rise of research focused on propulsion and control systems for bio-inspired unmanned underwater vehicles (UUVs), which provide more maneuverable alternatives to traditional UUVs in underwater missions.…
A complex pervasive system is typically composed of many cooperating \emph{nodes}, running on machines with different capabilities, and pervasively distributed across the environment. These systems pose several new challenges such as the…
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
Self-adaptive software is considered as the most advanced approach and its development attracts a lot of attention. Decentralization is an effective way to design and manage the complexity of modern self-adaptive software systems. However,…
Self-adaptive software can assess and modify its behavior when the assessment indicates that the program is not performing as intended or when improved functionality or performance is available. Since the mid-1960s, the subject of system…
Self-adaptivity allows software systems to autonomously adjust their behavior during run-time to reduce the cost complexities caused by manual maintenance. In this paper, an approach for building an external adaptation engine for…
Inertial and Doppler velocity log sensors are commonly used to provide the navigation solution for autonomous underwater vehicles (AUV). To this end, a nonlinear filter is adopted for the fusion task. The filter's process noise covariance…