相关论文: Real-Time Buoyancy Estimation for AUV Simulations …
Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Improved designs for Autonomous Underwater Vehicles (AUV) are becoming increasingly important due to their utility in academic and industrial applications. However, a majority of such testing and design is carried out under conditions that…
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
This article presents experimental and numerical studies on the effect of free stream turbulence on evolution of flow over an autonomous underwater vehicle (AUV) hull form at three Reynolds numbers with different submergence depths and…
Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…
This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…
Automatic underwater vehicle hull Design optimization is a complex engineering process for generating a UUV hull with optimized properties on a given requirement. First, it involves the integration of involved computationally complex…
Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which are significant in water and cannot be ignored. The problem is exacerbated for small AUVs for which the dynamics…
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…
Traditional sea exploration faces significant challenges due to extreme conditions, limited visibility, and high costs, resulting in vast unexplored ocean regions. This paper presents an innovative AI-powered Autonomous Underwater Vehicle…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
Autonomous underwater vehicles (AUVs) are essential for various applications, including oceanographic surveys, underwater mapping, and infrastructure inspections. Accurate and robust navigation are critical to completing these tasks. To…
Autonomous underwater vehicles (AUVs) are regularly used for deep ocean applications. Commonly, the autonomous navigation task is carried out by a fusion between two sensors: the inertial navigation system and the Doppler velocity log…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
Reinforcement Learning (RL) is a promising solution, allowing Unmanned Underwater Vehicles (UUVs) to learn optimal behaviors through trial and error. However, existing simulators lack efficient integration with RL methods, limiting training…
Physics simulations like computational fluid dynamics (CFD) are a computational bottleneck in computer-aided design (CAD) optimization processes. To overcome this bottleneck, one requires either an optimization framework that is highly…
Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…
Autonomous Underwater Vehicles (AUVs) commonly utilize an inertial navigation system (INS) and a Doppler velocity log (DVL) for underwater navigation. To that end, their measurements are integrated through a nonlinear filter such as the…
In this article, the hydrodynamic characteristics of Autonomous Underwater Vehicles (AUVs) are investigated and analyzed under the influence of rotating flow fields, that were generated in a recirculating water tank via a rotating…