相关论文: UGSim: Autonomous Buoyancy-Driven Underwater Glide…

This paper presents a BIM-discrepancy-driven active sensing framework for cooperative navigation between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in dynamic construction environments. Traditional navigation…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error. Building an automated design…

Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there…

Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a $\textit{blind}$ robot, and…

The emergence of 3D Gaussian Splatting for fast and high-quality novel view synthesize has opened up the possibility to construct photo-realistic simulations from video for robotic reinforcement learning. While the approach has been…

Marine exploration is essential to understanding ocean processes and organisms. While the use of current unmanned underwater vehicles has enabled many discoveries, there are still plenty of limitations toward exploring complex environments.…

As we aim to control complex systems, use of a simulator in model-based reinforcement learning is becoming more common. However, it has been challenging to overcome the Reality Gap, which comes from nonlinear model bias and susceptibility…

In this paper, we propose a novel cross-platform fault-tolerant surfacing controller for underwater robots, based on reinforcement learning (RL). Unlike conventional approaches, which require explicit identification of malfunctioning…

Developing and testing algorithms for autonomous vehicles in real world is an expensive and time consuming process. Also, in order to utilize recent advances in machine intelligence and deep learning we need to collect a large amount of…

Holonomic autonomous underwater vehicles (AUVs) have the hardware ability for agile maneuvering in both translational and rotational degrees of freedom (DOFs). However, due to challenges inherent to underwater vehicles, such as complex…

This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform…

For active intervention tasks in underwater environments, the use of autonomous vehicles is just now emerging as an active area of research. During operation, for various reasons, the robot might find itself on a collision course with an…

In this work, we introduce \textbf{XSIM}, a sensor simulation framework for autonomous driving. XSIM extends 3DGUT splatting with a generalized rolling-shutter modeling tailored for autonomous driving applications. Our framework provides a…

With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability to navigate through dense environments and varying altitudes,…

Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…

A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2 meter-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee…

Simulators are powerful tools for autonomous robot learning as they offer scalable data generation, flexible design, and optimization of trajectories. However, transferring behavior learned from simulation data into the real world proves to…

We present NVSim, a framework that automatically constructs large-scale, navigable indoor simulators from only common image sequences, overcoming the cost and scalability limitations of traditional 3D scanning. Our approach adapts 3D…

Despite recent advances in Unmanned Underwater Vehicle (UUV) attitude control, existing methods still struggle with generalizability, robustness to real-world disturbances, and efficient deployment. To address the above challenges, this…