相关论文: Deep Learning Models for Flapping Fin Unmanned Und…

In this work, we present an aided inertial navigation system for an autonomous underwater vehicle (AUV) using an unscented Kalman filter on manifolds (UKF-M). The inertial navigation estimate is aided by a Doppler velocity log (DVL), depth…

Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…

Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…

In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertainties and complexity of UVMS dynamic model ii) external…

To eliminate the effect of ocean currents when addressing the optimal path in the underwater environment, an intelligent algorithm designed for the unmanned underwater vehicle (UUV) is proposed in this paper. The algorithm consists of two…

Fish swim with flexible fins that stand in stark contrast to the rigid propulsors of engineered vehicles. Using numerical simulations of the dynamics of flow-structure interaction, we have found that dorso-ventral deformation in flexible…

Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…

There is a growing need for uncrewed aerial vehicles (UAVs) to operate in cities. However, the uneven urban landscape and complex street systems cause large-scale wind gusts that challenge the safe and effective operation of UAVs. Current…

In underwater navigation, accurate heading information is crucial for accurately and continuously tracking trajectories, especially during extended missions beneath the waves. In order to determine the initial heading, a gyrocompassing…

While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and control in complex fluid environments is crucial for in vivo…

Models that balance accuracy against computational costs are advantageous when designing wind turbines with optimization studies, as several hundred predictive function evaluations might be necessary to identify the optimal solution. We…

Unmanned aerial vehicles (UAVs) operating in dynamic wind fields must generate safe and energy-efficient trajectories under physical and environmental constraints. Traditional planners, such as A* and kinodynamic RRT*, often yield…

Reconstructing unknown external source functions is an important perception capability for a large range of robotics domains including manipulation, aerial, and underwater robotics. In this work, we propose a Physics-Informed Neural Network…

A Cyber-physical underwater vehicle is equipped with bio-inspired flapping fins positioned on the sides of the vehicle's main body. The proposed control surfaces are inspired by fish pectoral fins, generating forces and moments that can…

While Global Navigation Satellite System (GNSS) is often used to provide global positioning if available, its intermittency and/or inaccuracy calls for fusion with other sensors. In this paper, we develop a novel GNSS-Visual-Inertial…

Cantilevered elastic foils can undergo self-induced, large-amplitude flapping when subject to fluid flow, a widely observed phenomenon of fluid-structure interaction, from fluttering leaves or the movement of fish fins. When harnessed in…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…

This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…

Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…