相关论文: Real-Time Buoyancy Estimation for AUV Simulations …

Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, though convenient and quick to obtain,…

Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose…

Cartesian-grid methods in combination with immersed-body and volume-of-fluid methods are ideally suited for simulating breaking waves around ships. A surface panelization of the ship hull is used as input to impose body-boundary conditions…

We use a data-driven approach to model a three-dimensional turbulent flow using cutting-edge Deep Learning techniques. The deep learning framework incorporates physical constraints on the flow, such as preserving incompressibility and…

Autonomous Underwater Vehicles (AUVs) are platforms used for research and exploration of marine environments. However, these types of vehicles face many challenges that hinder their widespread use in the industry. One of the main…

The design of inertial fusion experiments is a complex task as driver energy must be delivered in a precise manner to a structured target to achieve a fast, but hydrodynamically stable, implosion. Radiation-hydrodynamics simulation codes…

Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is challenging and problematic. This includes, coplanar and collinear issues, numerical accuracy, performance, and complexity trade-offs. While there are…

The underwater domain presents a vast array of challenges for roboticists and computer vision researchers alike, such as poor lighting conditions and high dynamic range scenes. In these adverse conditions, traditional vision techniques…

We designed and constructed an A-sized base autonomous underwater vehicle (AUV), augmented with a stack of modular and extendable hardware and software, including autonomy, navigation, control and high fidelity simulation capabilities…

This paper presents the UGSim, a simulator for buoyancy-driven gliders, with a LQR control strategy, and a recursive guidance system. Building on the top of the DAVE and the UUVsim, it is designed to address unique challenges that come from…

Current advancements in waterborne autonomous systems, together with the development of cloud-based service-oriented architectures and the recent availability of low-cost underwater acoustic modems and long-range above water wireless…

This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…

Recently, reinforcement learning (RL) has been extensively studied and achieved promising results in a wide range of control tasks. Meanwhile, autonomous underwater vehicle (AUV) is an important tool for executing complex and challenging…

Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…

Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…

Knowing the sea surface velocity field is essential for various applications, such as search and rescue operations and oil spill monitoring, where understanding the movement of objects or substances is critical. However, obtaining an…

The Convex Hull algorithm is one of the most important algorithms in computational geometry, with many applications such as in computer graphics, robotics, and data mining. Despite the advances in the new algorithms in this area, it is…

High-fidelity modeling of turbulent flows is one of the major challenges in computational physics, with diverse applications in engineering, earth sciences and astrophysics, among many others. The rising popularity of high-fidelity…

This study presents a novel algorithm for identifying the set of extreme points that constitute the exact convex hull of a point set in high-dimensional Euclidean space. The proposed method iteratively solves a sequence of dynamically…

Deep-sea exploration poses significant challenges, including disorientation, communication loss, and navigational failures in dynamic underwater environments. This paper presents an Autonomous Underwater Cognitive System (AUCS) that…