相关论文: Design and Experimental Validation of an Autonomou…
Heading towards navigational autonomy in unmanned surface vehicles (USVs) in the maritime sector can fundamentally lead towards safer waters as well as reduced operating costs, while also providing a range of exciting new capabilities for…
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…
Marine robots, particularly Unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, environmental monitoring, and maritime security. This paper…
In recent years, Unmanned Surface Vehicles (USV) have been extensively deployed for maritime applications. However, USV has a limited detection range with sensor installed at the same elevation with the targets. In this research, we propose…
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…
We present an integrated UAV-hexapod robotic system designed for GNSS-denied maritime operations, capable of autonomous deployment and retrieval of a hexapod robot via a winch mechanism installed on a UAV. This system is intended to address…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
Recently worldwide interest is growing toward commercial, military or scientific Unmanned Surface Vehicle (USV) and hence there is required to develop their guidance, navigation, and control (GNC) systems. Real USVs are a relatively new…
In this paper, we validate the performance of the a sensor fusion-based Global Navigation Satellite System (GNSS) spoofing attack detection framework for Autonomous Vehicles (AVs). To collect data, a vehicle equipped with a GNSS receiver,…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…
In multi-robot exploration, a team of mobile robot is tasked with efficiently mapping an unknown environments. While most exploration planners assume omnidirectional sensors like LiDAR, this is impractical for small robots such as drones,…
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…
Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by GNSS degradation, environment-induced localisation…
Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
This paper presents a novel data-driven navigation system to navigate an Unmanned Vehicle (UV) in GPS-denied, feature-deficient environments such as tunnels, or mines. The method utilizes landmarks that vehicle can deploy and measure range…
This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…
This article presents novel designs of autonomous UAV prototypes specifically developed for inspecting GPS-denied tunnel construction environments with dynamic human and robotic presence. Our UAVs integrate advanced sensor suites and robust…
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…