相关论文: A Geometric Analysis-Based Safety Assessment Frame…
Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…
Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system…
Robust evidence suggests that humans explore their environment using a combination of topological landmarks and coarse-grained path integration. This approach relies on identifiable environmental features (topological landmarks) in tandem…
Autonomous underwater vehicles often perform surveys that capture multiple views of targets in order to provide more information for human operators or automatic target recognition algorithms. In this work, we address the problem of…
Maritime accidents and corresponding consequences vary substantially across spatial dimensions as affected by various factors. Understanding the effects of key factors on maritime accident consequence would be of great benefit to prevent…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…
Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform orientation. In recent years, there has…
Mobile robot navigation is typically regarded as a geometric problem, in which the robot's objective is to perceive the geometry of the environment in order to plan collision-free paths towards a desired goal. However, a purely geometric…
The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simulations offer a cost-effective alternative and eliminate…
In probabilistic seismic hazard analysis (PSHA), the exceedance probability of a ground-motion intensity measure (IM) is typically evaluated. However, in recent years, dynamic response analyses using ground-motion time histories as input…
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…
In many real-world applications data exhibits non-stationarity, i.e., its distribution changes over time. One approach to handling non-stationarity is to remove or minimize it before attempting to analyze the data. In the context of brain…
Low speed does not always guarantee safety in off-road driving. For instance, crossing a ditch may be risky at a low speed due to the risk of getting stuck, yet safe at a higher speed with a controlled, accelerated jump. Achieving such…
In robotic planetary surface exploration, strategic mobility planning is an important task that involves finding candidate long-distance routes on orbital maps and identifying segments with uncertain traversability. Then, expert human…
Large-scale blackouts that have occurred in the past few decades have necessitated the need to do extensive research in the field of grid security assessment. With the aid of synchrophasor technology, which uses phasor measurement unit…
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…
We present a practical verification method for safety analysis of the autonomous driving system (ADS). The main idea is to build a surrogate model that quantitatively depicts the behaviour of an ADS in the specified traffic scenario. The…
We present Gaussian Splatting Alignment (GSA), a novel method for aligning two independent 3D Gaussian Splatting (3DGS) models via a similarity transformation (rotation, translation, and scale), even when they are of different objects in…
When navigating and interacting in challenging environments where sensory information is imperfect and incomplete, robots must make decisions that account for these shortcomings. We propose a novel method for quantifying and representing…