相关论文: A BlueROV2-based platform for underwater mapping e…
As wireless researchers are tasked to enable wireless communication as infrastructure in more dynamic aerial settings, there is a growing need for large-scale experimental platforms that provide realistic, reproducible, and reliable…
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…
This systems paper presents the implementation and design of RB5, a wheeled robot for autonomous long-term exploration with fewer and cheaper sensors. Requiring just an RGB-D camera and low-power computing hardware, the system consists of…
Autonomous navigation in offroad environments has been extensively studied in the robotics field. However, navigation in covert situations where an autonomous vehicle needs to remain hidden from outside observers remains an underexplored…
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of…
Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth's oceans. However, these advances…
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…
We introduce a launch device, called the remotely-enabled modular release mechanism, to augment rapid testing and prototyping of cooperative autonomy maritime applications by facilitating autonomous deployment of an autonomous underwater…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
There exist a wide range of options for field robotics research using ground and aerial mobile robots, but there are comparatively few robust and research-ready uncrewed surface vessels (USVs). This workshop paper starts with a snapshot of…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…
Addressing the issue of submerged underwater trash is crucial for safeguarding aquatic ecosystems and preserving marine life. While identifying debris present on the surface of water bodies is straightforward, assessing the underwater…
Lunar exploration has become a key focus, driving scientific and technological advances. Ongoing missions are deploying rovers to the surface of the Moon, targeting the far side and south pole. However, these terrains pose challenges,…
As water pollution is a serious threat to underwater resources, i.e., underwater plants and species, we focus on protecting the resources by cleaning the non-biodegradable waste from the water. The waste can be recycled for further usage.…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
The exploration and sustainable use of marine environments have become increasingly critical as oceans cover over 70% of surface of Earth. This paper provides a comprehensive survey and classification of state-of-the-art underwater vehicles…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
This paper presents a manifold based Unscented Kalman Filter that applies a novel strategy for inertial, model-aiding and Acoustic Doppler Current Profiler (ADCP) measurement incorporation. The filter is capable of observing and utilizing…
Detecting objects of interest, such as human survivors, safety equipment, and structure access points, is critical to any search-and-rescue operation. Robots deployed for such time-sensitive efforts rely on their onboard sensors to perform…