相关论文: Underwater target 6D State Estimation via UUV Atti…

The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…

We present a safety-oriented framework for autonomous underwater vehicles (AUVs) that improves localization accuracy, enhances trajectory prediction, and supports efficient search operations during communication loss. Acoustic signals…

A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…

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.…

The reliable operation of Unmanned Underwater Vehicle (UUV) clusters is highly dependent on continuous acoustic communication. However, this communication method is highly susceptible to intermittent interruptions. When communication…

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…

There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…

The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally significant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marine resource…

This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…

We present a sensor misalignment-tolerant AUV navigation method that leverages measurements from an acoustic array and dead reckoned information. Recent studies have demonstrated the potential use of passive acoustic Direction of Arrival…

This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characterized by large waves. This onboard UAV system aims to enhance…

Unmanned surface vehicles (USVs) and boats are increasingly important in maritime operations, yet their deployment is limited due to costly sensors and complexity. LiDAR, radar, and depth cameras are either costly, yield sparse point clouds…

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…

This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…

Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…

Object tracking in inland waterways plays a crucial role in safe and cost-effective applications, including waterborne transportation, sightseeing tours, environmental monitoring and surface rescue. Our Unmanned Surface Vehicle (USV),…

Accurate localization of maritime targets by unmanned aerial vehicles (UAVs) remains challenging in GPS-denied environments. UAVs equipped with gimballed electro-optical sensors are typically used to localize targets, however, reliance on…

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…

In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous robots localizing themselves in a communication-constrained…

In this paper we propose a novel approach aimed at recovering the 3D position of an UUV from UAV imagery in shallow-water environments. Through combination of UAV and UUV measurements, we show that our method can be utilized as an accurate…