相关论文: Low-Cost Underwater In-Pipe Centering and Inspecti…
In autonomous underwater missions, the successful completion of predefined paths mainly depends on the ability of underwater vehicles to recognise their surroundings. In this study, we apply the concept of Fast Interval Type-2 Fuzzy Extreme…
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
In this work, a multi-stage Machine Learning (ML) pipeline is proposed for pipe leakage detection in an industrial environment. As opposed to other industrial and urban environments, the environment under study includes many interfering…
Simulating sonar devices requires modeling complex underwater acoustics, simultaneously rendering time-efficient data. Existing methods focus on basic implementation of one sonar type, where most of sound properties are disregarded. In this…
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…
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…
Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
Accurate, self-consistent bathymetric maps are needed to monitor changes in subsea environments and infrastructure. These maps are increasingly collected by underwater vehicles, and mapping requires an accurate vehicle navigation solution.…
Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…
The quality of robot vision greatly affects the performance of automation systems, where occlusions stand as one of the biggest challenges. If the target is occluded from the sensor, detecting and grasping such objects become very…
Schlieren imaging is a popular optical technique for visualizing flow in transparent media. In-water high-sensitivity flow visualization, using schlieren imaging, is usually performed with a large-footprint two-mirror z-configuration. Here,…
Robots with internal visual self-models promise unprecedented adaptability, yet existing autonomous modeling pipelines remain fragile under realistic sensing conditions such as noisy imagery and cluttered backgrounds. This paper presents…
Harmful marine spills, such as algae blooms and oil spills, damage ecosystems and threaten public health tremendously. Hence, an effective spill coverage and removal strategy will play a significant role in environmental protection. In…
Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This work presents a vision-guided control…
Navigation and inspection in confined environments, such as tunnels and pipes, pose significant challenges for existing robots due to limitations in maneuverability and adaptability to varying geometries. Vine robots, which are soft growing…