1 - 6 of 6 articles
The growing variety and complexity of marine research and application oriented tasks requires unmanned surface vehicles (USVs) to operate fully autonomously over long time horizons even in environments with significant civilian traffic. In order to address this challenge, we have developed a...
We present a cooperative bathymetry-based localization approach for a team of low-cost autonomous underwater vehicles (AUVs), each equipped only with a single-beam altimeter, a depth sensor and an acoustic modem. The localization of the individual AUV is achieved via fully decentralized particle...
Intervention autonomous underwater vehicles (I-AUVs) have the potential to open new avenues for the maintenance and monitoring of offshore subsea facilities in a cost-effective way. However, this requires challenging intervention operations to be carried out persistently, thus minimizing human...
This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre-programmed missions are likely to have limited utility. We use a realtime topic...
We propose an integrated learning and planning framework that leverages knowledge from a human user along with prior information about the environment to generate trajectories for scientific data collection in marine environments. The proposed framework combines principles from probabilistic...
A robust obstacle detection and avoidance system is essential for long term autonomy of autonomous underwater vehicles (AUVs). Forward looking sonars are usually used to detect and localize obstacles. However, high amounts of background noise and clutter present in underwater environments makes...
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