相关论文: Learning port maneuvers from data for automatic gu…

The ability to navigate, search, and monitor dynamic marine environments such as ports, deltas, tributaries, and rivers presents several challenges to both human operated and autonomously operated surface vehicles. Human data collection and…

Marine robots must maintain precise control and ensure safety during tasks like ocean monitoring, even when encountering unpredictable disturbances that affect performance. Designing algorithms for uncrewed surface vehicles (USVs) requires…

A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…

Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…

This paper proposes an uncertainty-aware marine pollution source tracking framework for unmanned surface vehicles (USVs). By integrating high-fidelity marine pollution dispersion simulation with informative path planning techniques, we…

Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…

In this research we focus on developing a reinforcement learning system for a challenging task: autonomous control of a real-sized boat, with difficulties arising from large uncertainties in the challenging ocean environment and the…

Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…

This paper studies trajectory optimization of an autonomous underwater vehicle (AUV) to track an unknown maneuvering target both in the 2D and 3D space. Due to the restrictions on sensing capabilities in the underwater scenario, the AUV is…

Unmanned Surface Vehicles (USVs) are increasingly applied to water operations such as environmental monitoring and river-map modeling. It faces a significant challenge in achieving precise autonomous docking at ports or stations, still…

When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

Flapping-fin unmanned underwater vehicle (UUV) propulsion systems provide high maneuverability for naval tasks such as surveillance and terrain exploration. Recent work has explored the use of time-series neural network surrogate models to…

Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…

Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…

This work presents a new approach to the guidance and control of marine craft via HEOL, i.e., a new way of combining flatness-based and model-free controllers. Its goal is to develop a general regulator for Unmanned Surface Vehicles (USV).…

Autonomous Underwater Vehicles (AUVs) play an essential role in modern ocean exploration, and their speed control systems are fundamental to their efficient operation. Like many other robotic systems, AUVs exhibit multivariable nonlinear…

This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characterized by large waves. This onboard UAV system aims to enhance…