相关论文: Tethered Multi-Robot Systems in Marine Environment…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…
The uncertainty and variability of underwater environment propose the request to control underwater robots in real time and dynamically, especially in the scenarios where human and robots need to work collaboratively in the field. However,…
With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…
Collaborative heterogeneous robot systems can greatly improve the efficiency of target search and navigation tasks. In this paper, we design a heterogeneous robot system consisting of a UAV and a UGV for search and rescue missions in…
We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine…
Marine oil spills damage ecosystems, contaminate coastlines, and disrupt food webs, while imposing substantial economic losses on fisheries and coastal communities. Prior work has demonstrated the feasibility of containing and cleaning…
Unmanned aerial vehicles (UAVs) are finding their way into offshore applications. In this work, we postulate an original system that entails a marine locomotive quadrotor UAV that manipulates the velocity of a floating buoy by means of a…
Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are particularly advantageous in aquatic environments, as reducing actuator count lowers the risk of motor leakage while introducing…
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…
Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this…
Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…
This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…
\textbf{BEAVR} is an open-source, bimanual, multi-embodiment Virtual Reality (VR) teleoperation system for robots, designed to unify real-time control, data recording, and policy learning across heterogeneous robotic platforms. BEAVR…
This paper presents a hybrid route-path planning model for an Autonomous Underwater Vehicle's task assignment and management while the AUV is operating through the variable littoral waters. Several prioritized tasks distributed in a large…
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…
An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to…
When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…
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…