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

This paper proposes a distributed guiding-vector-field (DGVF) controller for cross-domain unmanned systems (CDUSs) consisting of heterogeneous unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), to achieve coordinated…

Underwater images suffer severe degradation due to wavelength-dependent attenuation, scattering, and illumination non-uniformity that vary across water types and depths. We propose an unsupervised Domain-Invariant Visual Enhancement and…

Integration of reinforcement learning with unmanned aerial vehicles (UAVs) to achieve autonomous flight has been an active research area in recent years. An important part focuses on obstacle detection and avoidance for UAVs navigating…

Existing motion planning methods often struggle with rapid-motion obstacles due to an insufficient understanding of environmental changes. To address this, we propose integrating motion planners with Doppler LiDARs, which provide not only…

Unmanned aerial vehicles (UAVs) are playing an increasingly pivotal role in modern communication networks,offering flexibility and enhanced coverage for a variety of applica-tions. However, UAV networks pose significant challenges due to…

Incorporating deep learning (DL) classification models into unmanned aerial vehicles (UAVs) can significantly augment search-and-rescue operations and disaster management efforts. In such critical situations, the UAV's ability to promptly…

Autonomous indoor navigation of UAVs presents numerous challenges, primarily due to the limited precision of GPS in enclosed environments. Additionally, UAVs' limited capacity to carry heavy or power-intensive sensors, such as overheight…

This paper explores the design and development of a class of robust diver-following algorithms for autonomous underwater robots. By considering the operational challenges for underwater visual tracking in diverse real-world settings, we…

Visual navigation is essential for robotics and embodied AI. However, existing foundation models, particularly those with transformer decoders, suffer from high computational overhead and lack interpretability, limiting their deployment in…

We propose a new convolution called Dynamic Region-Aware Convolution (DRConv), which can automatically assign multiple filters to corresponding spatial regions where features have similar representation. In this way, DRConv outperforms…

Camera-equipped unmanned vehicles (UVs) have received a lot of attention in data collection for construction monitoring applications. To develop an autonomous platform, the UV should be able to process multiple modules (e.g.,…

Deep learning models excel at detecting anomaly patterns in normal data. However, they do not provide a direct solution for anomaly classification and scalability across diverse control systems, frequently failing to distinguish genuine…

We present 3DVNet, a novel multi-view stereo (MVS) depth-prediction method that combines the advantages of previous depth-based and volumetric MVS approaches. Our key idea is the use of a 3D scene-modeling network that iteratively updates a…

Radial velocity estimates provided by Doppler weather radar are critical measurements used by operational forecasters for the detection and monitoring of life-impacting storms. The sampling methods used to produce these measurements are…

Convolutional neural networks (CNNs) have become increasingly popular for solving a variety of computer vision tasks, ranging from image classification to image segmentation. Recently, autonomous vehicles have created a demand for depth…

We study the applicability of a Deep Neural Network (DNN) approach to simulate one-dimensional non-relativistic fluid dynamics. Numerical fluid dynamical calculations are used to generate training data-sets corresponding to a broad range of…

Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…

Autonomous Ground Vehicles (AGVs) are essential tools for a wide range of applications stemming from their ability to operate in hazardous environments with minimal human operator input. Effective motion planning is paramount for successful…

Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calibration targets. While working online, the calibration…

Autonomous deployment of unmanned aerial vehicles (UAVs) supporting next-generation communication networks requires efficient trajectory planning methods. We propose a new end-to-end reinforcement learning (RL) approach to UAV-enabled data…