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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…

Self-driving vehicles (SDVs) require accurate calibration of LiDARs and cameras to fuse sensor data accurately for autonomy. Traditional calibration methods typically leverage fiducials captured in a controlled and structured scene and…

This paper presents a general framework integrating vision and acoustic sensor data to enhance localization and mapping in highly dynamic and complex underwater environments, with a particular focus on fish farming. The proposed pipeline is…

This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…

Current advancements in waterborne autonomous systems, together with the development of cloud-based service-oriented architectures and the recent availability of low-cost underwater acoustic modems and long-range above water wireless…

The subject is the localization problem of an underwater swarm of autonomous underwater robots (AUV), in the frame of the HARNESS project; by localization, we mean the relative swarm configuration, i.e., the geometrical shape of the group.…

The use of autonomous underwater vehicles (AUVs) to accomplish traditionally challenging and dangerous tasks has proliferated thanks to advances in sensing, navigation, manipulation, and on-board computing technologies. Utilizing AUVs in…

Autonomous underwater vehicles (AUVs) and sensor nodes increasingly support decentralized sensing and coordination in the Internet of Underwater Things (IoUT), yet most deployments rely on static trust once authentication is established,…

This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot…

Over the past ten years, many different approaches have been proposed for different aspects of the problem of resources management for long running, dynamic and diverse workloads such as processing query streams or distributed deep…

Uncrewed Surface Vehicles (USVs) are a popular and efficient type of marine craft that find application in a large number of water-based tasks. When multiple USVs operate in the same area, they may be required to dock to each other to…

This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…

Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…

This paper presents a solution to Autonomous Underwater Vehicles (AUVs) large scale route planning and task assignment joint problem. Given a set of constraints (e.g., time) and a set of task priority values, the goal is to find the optimal…

Perception still remains a challenging problem for autonomous navigation in unknown environment, especially for aerial vehicles. Most mapping algorithms for autonomous navigation are specifically designed for their very intended task, which…

This letter investigates computing-accessibility-aware cooperative 3D deployment of multiple UAVs for task completion enhancement, termed CA3D. We first provide a theoretical analysis showing that computing accessibility is the key…

Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…

Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…

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…

Coordination in multi-agent systems is challenging for agile robots such as unmanned aerial vehicles (UAVs), where relative agent positions frequently change due to unconstrained movement. The problem is exacerbated through the individual…