相关论文: Collaborative Aquatic Positioning System Utilising…
Positioning of underwater robots in confined and cluttered spaces remains a key challenge for field operations. Existing systems are mostly designed for large, open-water environments and struggle in industrial settings due to poor…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Autonomously controlling the position of Remotely Operated underwater Vehicles (ROVs) is of crucial importance for a wide range of underwater engineering applications, such as in the inspection and maintenance of underwater industrial…
Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization techniques based on radio frequency or optics are suitable due…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
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…
We analyze the problem of localization algorithms for underwater sensor networks. We first characterize the underwater channel for radio communications and adjust a linear model with measurements of real transmissions. We propose an…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Our understanding of the oceans remains limited by sparse and infrequent observations, primarily because current methods are constrained by the high cost and logistical effort of underwater monitoring, relying either on sporadic surveys…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
We present an integrated UAV-hexapod robotic system designed for GNSS-denied maritime operations, capable of autonomous deployment and retrieval of a hexapod robot via a winch mechanism installed on a UAV. This system is intended to address…
This paper is devoted to local sensing and communication for collective underwater systems used in networked and swarm modes. It is demonstrated that a specific combination of modal and sub-modal communication, used simultaneously for…