相关论文: Codification of Good Seamanship in Complex and Con…
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…
Navigation in dynamic environments requires autonomous systems to reason about uncertainties in the behavior of other agents. In this paper, we introduce a unified framework that combines trajectory planning with multimodal predictions and…
Maritime environments often present hazardous situations due to factors such as moving ships or buoys, which become obstacles under the influence of waves. In such challenging conditions, the ability to detect and track potentially…
Manipulation in confined and cluttered environments remains a significant challenge due to partial observability and complex configuration spaces. Effective manipulation in such environments requires an intelligent exploration strategy to…
Automatic Identification System (AIS) messages are useful for tracking vessel activity across oceans worldwide using radio links and satellite transceivers. Such data plays a significant role in tracking vessel activity and mapping mobility…
In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and…
To reduce carbon emissions and minimize shipping costs, improving the fuel efficiency of ships is crucial. Various measures are taken to reduce the total fuel consumption of ships, including optimizing vessel parameters and selecting routes…
A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…
Autonomous navigation in congested maritime environments is a critical capability for a wide range of real-world applications. However, it remains an unresolved challenge due to complex vessel interactions and significant environmental…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
Enabling socially acceptable behavior for situated agents is a major goal of recent robotics research. Robots should not only operate safely around humans, but also abide by complex social norms. A key challenge for developing…
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,…
A cooperative salvo strategy is proposed in this paper which achieves consensus among the interceptors within a pre-defined arbitrary settling time. Considering non-linear engagement kinematics and a system lag to capture the effect of…
Understanding past and present maritime activity patterns is critical for navigation safety, environmental assessment, and commercial operations. An increasing number of services now openly provide positioning data from the Automatic…
Tracking multiple moving objects in real-time in a dynamic threat environment is an important element in national security and surveillance system. It helps pinpoint and distinguish potential candidates posing threats from other normal…
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…
Deep learning object detection methods, like YOLOv5, are effective in identifying maritime vessels but often lack detailed information important for practical applications. In this paper, we addressed this problem by developing a technique…
This paper presents VORRT-COLREGs, a hybrid technique that combines velocity obstacles (VO) and rapidly-exploring random trees (RRT) to generate safe trajectories for autonomous surface vessels (ASVs) while following nautical rules of the…
Understanding how decision makers balance operational efficiency with environmental and ecological risks is central to vessel navigation. We model vessel speed as a control variable in a constrained optimization framework in which vessel…
In marine surveillance, distinguishing between normal and anomalous vessel movement patterns is critical for identifying potential threats in a timely manner. Once detected, it is important to monitor and track these vessels until a…