相关论文: Intelligent Sailing Model for Open Sea Navigation
With the great achievement of artificial intelligence, vehicle technologies have advanced significantly from human centric driving towards fully automated driving. An intelligent vehicle should be able to understand the driver's perception…
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,…
Ensuring the structural integrity of bridges is essential for maintaining infrastructure safety and promoting long-term sustainability. In this context, Indirect Structural Health Monitoring (ISHM) through drive-by bridge inspection emerges…
In this paper, we look at the role of autonomous navigation in the maritime domain. Specifically, we examine how an Autonomous Surface Vessel(ASV) can achieve obstacle avoidance based on the Convention on the International Regulations for…
Navigating towards fully open language goals and exploring open scenes in an intelligent way have always raised significant challenges. Recently, Vision Language Models (VLMs) have demonstrated remarkable capabilities to reason with both…
The increasing demand for efficient last-mile delivery in smart logistics underscores the role of autonomous robots in enhancing operational efficiency and reducing costs. Traditional navigation methods, which depend on high-precision maps,…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the…
Accurate predictions of ship trajectories in crowded environments are essential to ensure safety in inland waterways traffic. Recent advances in deep learning promise increased accuracy even for complex scenarios. While the challenge of…
Maritime AIS (Automatic Identification Systems) data serve as a valuable resource for studying vessel behavior. This study proposes a methodology to analyze route between maritime points of interest and extract geo-referenced standard…
The maritime industry aims towards a sustainable future, which requires significant improvements in operational efficiency. Current approaches focus on minimising fuel consumption and emissions through greater autonomy. Efficient and safe…
The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to be accounted for in order to successfully steer the vehicle.…
In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface…
Skid-steered wheel mobile robots (SSWMRs) operate in a variety of outdoor environments exhibiting motion behaviors dominated by the effects of complex wheel-ground interactions. Characterizing these interactions is crucial both from the…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
We develop a hierarchical control architecture for autonomous docking maneuvers of a dynamic positioning vessel and provide formal safety guarantees. At the upper-level, we treat the vessel's desired surge, sway, and yaw velocities as…
This paper presents a novel autonomous surface vessel (ASV), called Roboat II for urban transportation. Roboat II is capable of accurate simultaneous localization and mapping (SLAM), receding horizon tracking control and estimation, and…
This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC)…
Automatic Identification System (AIS) data represents a rich source of information about maritime traffic and offers a great potential for data analytics and predictive modeling solutions, which can help optimizing logistic chains and to…
With the rapid growth of urban transportation and the continuous progress in autonomous driving, a demand for robust benchmarking autonomous driving algorithms has emerged, calling for accurate modeling of large-scale urban traffic…