相关论文: On-board Sonar Data Classification for Path Follow…

Data uncertainty is inherent in many real-world applications and poses significant challenges for accurate time series predictions. The interval type 2 fuzzy neural network (IT2FNN) has shown exceptional performance in uncertainty modelling…

Urban Traffic Networks are characterized by high dynamics of traffic flow and increased travel time, including waiting times. This leads to more complex road traffic management. The present research paper suggests an innovative advanced…

In this paper, we tackle the task of generating Prediction Intervals (PIs) in high-risk scenarios by proposing enhancements for learning Interval Type-2 (IT2) Fuzzy Logic Systems (FLSs) to address their learning challenges. In this context,…

We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…

Multi-sensor fusion is an effective way to enhance the positioning performance of autonomous underwater vehicles (AUVs). However, underwater multi-sensor fusion faces challenges such as heterogeneous frequency and dynamic availability of…

Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a…

Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…

Autonomous navigation in underwater environments remains a major challenge due to the absence of GPS, degraded visibility, and the presence of submerged obstacles. This article investigates these issues through the case of the BlueROV2, an…

For autonomous quadruped robot navigation in various complex environments, a typical SOTA system is composed of four main modules -- mapper, global planner, local planner, and command-tracking controller -- in a hierarchical manner. In this…

Marine ecosystems are vital for the planet's health, but human activities such as climate change, pollution, and overfishing pose a constant threat to marine species. Accurate classification and monitoring of these species can aid in…

A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…

In order to achieve faster and more robust convergence (especially under noisy working environments), a sliding mode theory-based learning algorithm has been proposed to tune both the premise and consequent parts of type-2 fuzzy neural…

Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…

Multilayer Extreme Learning Machine (ML-ELM) and its variants have proven to be an effective technique for the classification of different natural signals such as audio, video, acoustic and images. In this paper, a Hybrid Multilayer Extreme…

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…

Fuzzy Neural Networks (FNNs) are effective machine learning models for classification tasks, commonly based on the Takagi-Sugeno-Kang (TSK) fuzzy system. However, when faced with high-dimensional data, especially with noise, FNNs encounter…

Situating at the core of Artificial Intelligence (AI), Machine Learning (ML), and more specifically, Deep Learning (DL) have embraced great success in the past two decades. However, unseen class label prediction is far less explored due to…

Inertial sensing is used in many applications and platforms, ranging from day-to-day devices such as smartphones to very complex ones such as autonomous vehicles. In recent years, the development of machine learning and deep learning…

The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…

Deep Neural Networks have impressive classification performance, but this comes at the expense of significant computational resources at inference time. Autonomous Underwater Vehicles use low-power embedded systems for sonar image…