相关论文: AUV trajectory optimization with hydrodynamic forc…
Jupiter's icy moons are believed to host subsurface liquid oceans, and among them, Europa stands out as one of the most promising candidates for extraterrestrial life. Yet, the processes driving oceanic flows beneath its ice shell, as well…
Enhancing robot navigation efficiency is a crucial objective in modern robotics. Robots relying on external navigation systems are often susceptible to electromagnetic interference (EMI) and encounter environmental disturbances, resulting…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit…
Robots such as autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) have been used for sensing and monitoring aquatic environments such as oceans and lakes. Environmental sampling is a challenging task because the…
An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale…
The underwater Unmanned Vehicles(UUVs) are pivot tools for offshore engineering and oceanographic research. Most existing UUVs do not facilitate easy integration of new or upgraded sensors. A solution to this problem is to have a modular…
Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…
This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an…
Unmanned aerial vehicles (UAVs), commonly known as drones, are being increasingly deployed throughout the globe as a means to streamline monitoring, inspection, mapping, and logistic routines. When dispatched on autonomous missions, drones…
The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…
Marine debris originating from human activity has been accumulating in underwater environments such as oceans, lakes, and rivers for decades. The extent, type, and amount of waste is hard to assess as the exact mechanisms for spread are not…
Unmanned Aerial Vehicles(UAVs) are attaining more and more maneuverability and sensory ability as a promising teleoperation platform for intelligent interaction with the environments. This work presents a novel 5-degree-of-freedom (DoF)…
This paper presents Low-cost Marine Autonomous Robotic Vehicle Explorer (Lo-MARVE), a novel autonomous underwater vehicle (AUV) designed to provide a low cost solution for underwater exploration and environmental monitoring in shallow water…
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external…
As autonomous vehicles continue to revolutionize transportation, addressing challenges posed by adverse weather conditions, particularly during winter, becomes paramount for ensuring safe and efficient operations. One of the most important…
The Information Updating Networks (IUNs) offers significant potential for ocean exploration but encounters challenges due to dynamic underwater environments and severe system attenuation. Current methods relying on Autonomous Underwater…
Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…
The safety of autonomous vehicles (AVs) depends on their ability to perform complex computations on high-volume sensor data in a timely manner. Their ability to run these computations with state-of-the-art models is limited by the…
Studying lunar dust is vital to the exploration of the Moon and other airless planetary bodies. The Ultraviolet and Visible Spectrometer (UVS) on board the Lunar Atmosphere and Dust Environment Explorer (LADEE) spacecraft conducted a series…