相关论文: On-board Sonar Data Classification for Path Follow…
Accurate classification of laryngeal vascular as benign or malignant is crucial for early detection of laryngeal cancer. However, organizations with limited access to laryngeal vascular images face challenges due to the lack of large and…
This paper describes the implementation of a learning-based lane detection algorithm on an Autonomous Mobile Robot. It aims to implement the Ultra Fast Lane Detection algorithm for real-time application on the SEATER P2MC-BRIN prototype…
Feature selection can select important features to address dimensional curses. Subspace learning, a widely used dimensionality reduction method, can project the original data into a low-dimensional space. However, the low-dimensional…
Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility…
Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…
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,…
Underwater multi-robot cooperative coverage remains challenging due to partial observability, limited communication, environmental uncertainty, and the lack of access to global localization. To address these issues, this paper presents a…
Federated learning (FL) offers a privacy-preserving paradigm for machine learning, but its application in intrusion detection systems (IDS) within IoT networks is challenged by severe class imbalance, non-IID data, and high communication…
Underwater observation systems typically integrate optical cameras and imaging sonar systems. When underwater visibility is insufficient, only sonar systems can provide stable data, which necessitates exploration of the underwater acoustic…
Nano-UAV teams offer great agility yet face severe navigation challenges due to constrained onboard sensing, communication, and computation. Existing approaches rely on high-resolution vision or compute-intensive planners, rendering them…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…
Swarm intelligence is being increasingly deployed in autonomous systems, such as drones and unmanned vehicles. Federated reinforcement learning (FRL), a key swarm intelligence paradigm where agents interact with their own environments and…
This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…
In this manuscript, decentralized robust interval type-2 fuzzy model predictive control for Takagi-Sugeno large-scale systems is studied. The mentioned large-scale system consists a number of interval type-2 (IT2) fuzzy Takagi-Sugeno (T-S)…
Indoor autonomous navigation requires a precise and accurate localization system able to guide robots through cluttered, unstructured and dynamic environments. Ultra-wideband (UWB) technology, as an indoor positioning system, offers precise…
Autonomous navigation in the underwater environment is challenging due to limited visibility, dynamic changes, and the lack of a cost-efficient accurate localization system. We introduce UIVNav, a novel end-to-end underwater navigation…
Detecting marine objects inshore presents challenges owing to algorithmic intricacies and complexities in system deployment. We propose a difficulty-aware edge-cloud collaborative sensing system that splits the task into object localization…
This paper develops an underwater navigation solution that utilizes a strapdown inertial navigation system (SINS) and fuses a set of auxiliary sensors such as an acoustic positioning system, Doppler velocity log, depth meter, attitude…
Efficient localization in underwater sensor networks faces challenges due to limited bandwidth, energy constraints, and hardware complexity. Traditional systems separate sensing and communication, often resulting in inefficient resource…
This study introduces a connective model of routing -- local path planning for Autonomous Underwater Vehicle (AUV) time efficient maneuver in long-range operations. Assuming the vehicle operating in a turbulent underwater environment, the…