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This paper proposes the use of path planning algorithms for AUVs in applications where the robot needs to adapt online its trajectory for inspection or safety purposes. These algorithms generate trajectories under motion constraints, which can be followed without deviations, to ensure the safety even when passing close to obstacles. View planning algorithms are also combined to decide the movements...
The emergence of urban search and rescue robotics (USAR) as a field of research is largely attributed to the failure of robots in the field thus far. Existing platforms are unable to fulfill the task of finding survivors because they are expensive, specialized, and require a very long lead time to construct and use. Further, they cannot be localized once a survivor is found. This project seeks to...
This paper is about underpinning long-term operations of fleets of vehicles using visual localisation. In particular it examines ways in which vehicles, considered as independent agents, can share, update and leverage each others' visual experiences in a mutually beneficial way. We draw on our previous work in Experience-based Navigation (EBN) [1], in which a visual map supporting multiple representations...
Spatial point process models are a commonly-used statistical tool for studying the distribution of objects of interest in a domain. We study the problem of deploying mobile robots as remote sensors to estimate the parameters of such a model, in particular the intensity parameter λ which measures the mean density of points in a Poisson point process. This problem requires covering an appropriately...
We address the important problem of achieving robust and easy-to-deploy visual state estimation for micro aerial vehicles (MAVs) operating in complex environments. We use a sensor suite consisting of multiple cameras and an IMU to maximize perceptual awareness of the surroundings and provide sufficient redundancy against sensor failures. Our approach starts with an online initialization procedure...
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update rate and finite inertia. We implemented two fundamental self-organized algorithms: one with constant direction and one with constant velocity preference to reach a...
This paper focuses on a real system implementation, analysis, and evaluation of a cooperative sensor fusion algorithm based on a Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter, using simulated and real vehicles endowed with automotive-grade sensors. We have extended our previously presented cooperative sensor fusion algorithm with a fusion weight optimization method and implemented...
This paper presents a control algorithm that steers a robotic walking assistant along a planned path using electromechanical brakes. The device is modeled as a Dubins' car, i.e., a wheeled vehicle that moves only forward in the plane and has a limited turning radius. In order to reduce the cost of the hardware, no force sensor is employed. This feature hampers the application of control algorithms...
In almost every engineering curriculum, an introductory engineering course to enlighten students knowledge on the different engineering disciplines is offered for the freshman students. To better describe the engineering majors and increase students interest, practical projects are often requested to complement the theoretical lectures and concepts covered in these classes. In here we present a robotic-based...
Hovering is an indispensable function of helicopters for the tasks on uneven terrain. But hovering is dangerous and needs high control technique of the operator and a large amount of fuel. Therefore, we have been proposed Leg Type landing gear system for aerial vehicles that can adapt to uneven terrain as a substitute for hovering. We named this automatic landing system on uneven terrain ALS. In this...
This paper considers the problem of sensor attack detection for multiple operating mode systems, building upon an existing attack detection method that uses a transient fault model with fixed parameters. For a multiple operating mode system, the existing method would have to use the most conservative model parameters to preserve the soundness in attack detection, thus not being effective in attack...
Multi-domain autonomous sensor networks are essential for reducing capability gaps between different kinds of sensing platforms. Design of an efficient network can provide seamless sensing capability. Furthermore, to achieve operational persistency, nodes of the networks are required to be robust and affordable. Field robotics has other challenges in addition to robustness and in particular the logistics...
This paper describes the Unmanned Underwater Vehicle (UUV) Simulator, an extension of the open-source robotics simulator Gazebo to underwater scenarios, that can simulate multiple underwater robots and intervention tasks using robotic manipulators. This is achieved mainly through a set of newly implemented plugins that model underwater hydrostatic and hydrodynamic effects, thrusters, sensors, and...
Most of the autonomous underwater vehicles (AUVs) are provided with a main battery to process the on-board software and for the electronic systems. In this case, on-board energy capacity (battery capacity) will limit the operational time of the AUV. Energy depletion may occur at a critical moment during a task execution. In addition, returning the robot to its home-base and recharging the AUV to complete...
We present the design overview and navigation performance for an offshore deployment of a semi-autonomous underwater vehicle (sAUV). The system is based on a commercially-available observation class remotely operated vehicle (ROV), combined with a commercial AUV navigation system. The vehicle also has onboard visual cameras, a Doppler velocity log, and a multibeam imaging sonar. We present the integration...
As the capabilities of autonomous underwater vehicles (AUVs) improve, the missions become longer, riskier, and more complex. For AUVs to succeed in complex missions, they must be reliable in the face of subsystem failure and environmental challenges. In practice, fault detection activities carried out by most AUVs employ a rule-based emergency abort system that is triggered by specific events. AUVs...
Underwater Object Localization is widely used in the industry in Autonomous Underwater Vehicles (AUV), both in sea and lake environments for various applications. Sonars and Cameras are popular choices for this, but each sensor alone poses several problems. Data extraction from Optical Cameras underwater is a challenge due to poor lighting conditions, hazing over large distances and spatio-temporal...
The paper describes the control system development of a novel hybrid autonomous vehicle - Aqua-Quad, a Multi-Rotor Vertical Take Off and Landing aircraft with environmentally hardened electronics, exchangeable sensor suite, communication links, and a solar recharge system. The key objective of this multi-modal autonomous system is to enable energy-aware ultra-long endurance autonomy to facilitate...
The development of a novel hybrid autonomous vehicle, Aqua-Quad, is presented, which combines a multi-rotor vertical take off and landing aircraft with environmentally hardened electronics, exchangeable sensor suite and a solar recharge system in order to provide long endurance sensing in aquatic environments in support of a variety of missions. The vehicle is envisioned to perform sensing below the...
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