相关论文: DCNet: A Data-Driven Framework for DVL Calibration

Self-driving vehicles (SDVs) require accurate calibration of LiDARs and cameras to fuse sensor data accurately for autonomy. Traditional calibration methods typically leverage fiducials captured in a controlled and structured scene and…

Deep Reinforcement Learning (DRL) offers a robust alternative to traditional control methods for autonomous underwater docking, particularly in adapting to unpredictable environmental conditions. However, bridging the "sim-to-real" gap and…

Anomaly detection is a key goal of autonomous surveillance systems that should be able to alert unusual observations. In this paper, we propose a holistic anomaly detection system using deep neural networks for surveillance of critical…

Machine learning techniques have outperformed numerous rule-based methods for decision-making in autonomous vehicles. Despite recent efforts, lane changing remains a major challenge, due to the complex driving scenarios and changeable…

In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous robots localizing themselves in a communication-constrained…

Lightweight autonomous unmanned aerial vehicles (UAV) are emerging as a central component of a broad range of applications. However, autonomous navigation necessitates the implementation of perception algorithms, often deep neural networks…

This article presents an innovative study in exploring, evaluating, and implementing deep learning architectures for the calibration of multi-modal sensor systems. The focus behind this is to leverage the use of sensor fusion to achieve…

Autonomous drone navigation in dynamic environments remains a critical challenge, especially when dealing with unpredictable scenarios including fast-moving objects with rapidly changing goal positions. While traditional planners and…

In this chapter, the regulation of Unmanned Aerial Vehicle (UAV) communication network is investigated in the presence of dynamic changes in the UAV lineup and user distribution. We target an optimal UAV control policy which is capable of…

In this paper, we present a detailed design of dynamic video segmentation network (DVSNet) for fast and efficient semantic video segmentation. DVSNet consists of two convolutional neural networks: a segmentation network and a flow network.…

Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current state-of-the-art…

Inspired by the UNet architecture of semantic image segmentation, we propose a lightweight UNet using depthwise separable convolutions (DSUNet) for end-to-end learning of lane detection and path prediction (PP) in autonomous driving. We…

Vision Language Navigation (VLN) requires agents to follow natural language instructions by grounding them in sequential visual observations over long horizons. Explicit reasoning could enhance temporal consistency and perception action…

This paper describes the development and experimental results of navigation algorithms for an autonomous underwater glider (AUG) that uses an on-board acoustic Doppler current profiler (ADCP). AUGs are buoyancy-driven autonomous underwater…

Unmanned Aerial Vehicles (UAVs) are increasingly essential in various fields such as surveillance, reconnaissance, and telecommunications. This study aims to develop a learning algorithm for the path planning of UAV wireless communication…

This paper presents a novel approach to the design of globally asymptotically stable (GAS) position filters for Autonomous Underwater Vehicles (AUVs) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL) and a…

This letter is concerned with power control for a ultra-reliable and low-latency communications (URLLC) enabled unmanned aerial vehicle (UAV) system incorporated with deep neural network (DNN) based channel estimation. Particularly, we…

In recent years, autonomous underwater vehicle (AUV) systems have demonstrated significant potential in complex marine exploration. However, effective AUV-based tracking remains challenging in realistic underwater environments characterized…

Accurate navigation is of paramount importance to ensure flight safety and efficiency for autonomous drones. Recent research starts to use Deep Neural Networks to enhance drone navigation given their remarkable predictive capability for…

Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…