相关论文: Towards Real-World Validation of a Physics-Based S…
There is a growing demand for simulators for the research and development of maritime autonomous surface ships (MASS) and the approval of autonomous navigation algorithms. Simulators are used for purposes such as evaluation and training and…
The maritime sector is undergoing a disruptive technological change driven by three main factors: autonomy, decarbonization, and digital transformation. Addressing these factors necessitates a reassessment of inland vessel operations. This…
Ship roll motion in high sea states has large amplitudes and nonlinear dynamics, and its prediction is significant for operability, safety, and survivability. This paper presents a novel data-driven methodology to provide a multi-step…
The purpose of navigation is to determine the position, velocity, and orientation of manned and autonomous platforms, humans, and animals. Obtaining accurate navigation commonly requires fusion between several sensors, such as inertial…
Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…
To meet the urgent requirements for the climate change mitigation, several proactive measures of energy efficiency have been implemented in maritime industry. Many of these practices depend highly on the onboard data of vessel's operation…
Marine invasive species spread through global shipping and generate substantial ecological and economic impacts. Traditional risk assessments require detailed records of ballast water and traffic patterns, which are often incomplete,…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
Human motion prediction is consisting in forecasting future body poses from historically observed sequences. It is a longstanding challenge due to motion's complex dynamics and uncertainty. Existing methods focus on building up complicated…
We present a system for online monitoring of maritime activity over streaming positions from numerous vessels sailing at sea. It employs an online tracking module for detecting important changes in the evolving trajectory of each vessel…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
In response to climate change, the International Maritime Organization has introduced regulatory frameworks to reduce greenhouse gas emissions from international shipping. Compliance with these regulations is increasingly expected from…
Optimizing maritime operations, particularly fuel consumption for vessels, is crucial, considering its significant share in global trade. As fuel consumption is closely related to the shaft power of a vessel, predicting shaft power…
In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
The incorporation of world modeling into manipulation policy learning has pushed the boundary of manipulation performance. However, existing efforts simply model the 2D visual dynamics, which is insufficient for robust manipulation when…
Extracting information on fluid motion directly from images is challenging. Fluid flow represents a complex dynamic system governed by the Navier-Stokes equations. General optical flow methods are typically designed for rigid body motion,…
The swimming trajectories of self-propelled organisms or synthetic devices in a viscous fluid can be altered by hydrodynamic interactions with nearby boundaries. We explore a multipole description of swimming bodies and provide a general…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
We consider a new control strategy for marine navigation, equipped with finite-time convergence characteristics. We provide mathematical guarantees for waypoint reaching and obstacle avoidance for different encounter scenarios, by deriving…