相关论文: A BlueROV2-based platform for underwater mapping e…

This paper describes the design of a miniature uncrewed underwater vehicle (MiniUUV) and related instrumentation for indoor experimentation. The MiniUUV was developed using 3D printed components and low-cost, off-the-shelf electronics. The…

This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpinned by an innovative prior polygon map. Especially, to…

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…

Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…

This paper proposes a multi-sensor based approach to detect, track, and localize a quadcopter unmanned aerial vehicle (UAV). Specifically, a pipeline is developed to process monocular RGB and thermal video (captured from a fixed platform)…

Perceiving the surrounding environment is crucial for autonomous mobile robots. An elevation map provides a memory-efficient and simple yet powerful geometric representation for ground robots. The robots can use this information for…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…

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…

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…

In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…

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…

In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specifically, we employ the…

This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…

Autonomous robots can help people explore parts of the ocean that would be hard or impossible to get to otherwise. The increase in the availability of low-cost components has made it possible to innovate, design, and implement new and…

High-resolution seafloor mapping necessitates stable and precise positioning for underwater robots. This paper introduces a novel mathematical model for SeaVis remotely operated towed vehicles (ROTVs) and develops a gain-scheduled…

Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…

Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic information about the objects of interest from raw sensory…

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…