相关论文: Adaptive Landmark Color for AUV Docking in Visuall…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…
Recent advances in efficient design, perception algorithms, and computing hardware have made it possible to create improved human-robot interaction (HRI) capabilities for autonomous underwater vehicles (AUVs). To conduct secure missions as…
Precise autonomous navigation remains a substantial challenge to all underwater platforms. Inertial Measurement Units (IMU) and Doppler Velocity Logs (DVL) have complementary characteristics and are promising sensors that could enable fully…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
Underwater imagery has enabled numerous civilian applications in various domains, ranging from academia to industry, and from industrial surveillance and maintenance to environmental protection and behavior of marine creatures studies. The…
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…
As underwater human activities are increasing, the demand for underwater communication service presents a significant challenge. Existing underwater diver communication methods face hurdles due to inherent disadvantages and complex…
We propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic positioning (DP) controller for trajectory tracking. The trajectory…
Underwater Vehicles have become more sophisticated, driven by the off-shore sector and the scientific community's rapid advancements in underwater operations. Notably, many underwater tasks, including the assessment of subsea…
Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…
We present a sensor misalignment-tolerant AUV navigation method that leverages measurements from an acoustic array and dead reckoned information. Recent studies have demonstrated the potential use of passive acoustic Direction of Arrival…
Cross-view image matches have been widely explored on terrestrial image localization using aerial images from drones or satellites. This study expands the cross-view image match idea and proposes a cross-domain and cross-view localization…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
One of the primary means of sea exploration is autonomous underwater vehicles (AUVs). To perform these tasks, AUVs must navigate the rough challenging sea environment. AUVs usually employ an inertial navigation system (INS), aided by a…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
This paper presents a novel end-to-end Unmanned Aerial System (UAS) navigation approach for long-range visual navigation in the real world. Inspired by dual-process visual navigation system of human's instinct: environment understanding and…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth's oceans. However, these advances…
Event cameras, such as dynamic vision sensors (DVS), and dynamic and active-pixel vision sensors (DAVIS) can supplement other autonomous driving sensors by providing a concurrent stream of standard active pixel sensor (APS) images and DVS…