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The increased availability of free telematics smartphone applications is expected to lead to greater consumer usage. Telematics services require that servers and consumer devices, such as smartphones and car navigation terminals, transmit large amounts of different types of data via uplink and downlink. One of the most significant issues in this area is finding methods to reduce the volume of data...
A paper describes the multiagent system of aerial vehicles for difficult to access area's ecological monitoring. The main object of this systems applying is exploration of locality in case of technogenic accident and catastrophe, elemental calamity. The system is able to keep the formation during the movement on the optimal trajectory for the fastest exploration of locality. The group of agents is...
The offshore industry is now moving towards deeper waters, challenging geographical areas and dynamic working environments. This is not only applicable to the offshore oil and gas market, but also marine renewables and more recently, the lucrative industry of subsea mining. These initiatives pull together the best practice and experience from established players in dredging, offshore oil and gas and...
The problem acoustic localization for autonomous underwater vehicles (AUVs) is discussed in the framework of kernel-based models. The approach consists of improving the measurement of time of fligth of acoustic signals with the help of the Auto-Associative Kernel Regression (AAKR). This makes localization less sensitive to perturbations in the acoustic channel improving the estimation filter convergence...
This paper presents a set of navigation, control and allocation algorithm suitable for underwater vehicles equipped with inertial measurement unit, underwater positioning systems and fixed thrusters with asymmetric response. All the algorithms are detailed in this document together with simulation results and comments. Low computational demand and well-established methods make the proposed combination...
This paper presents a modular localization and mapping system for intervention autonomous underwater vehicles working in semi-structured environments with known landmarks. The system is divided in several modules to make it as generic as possible. Two visual detection algorithms can be used to compute the position of known landmarks by comparing the images taken by the vehicle against an a priori...
With navigation algorithms reaching a certain maturity in the field of mobile robots, the community now focuses on more advanced tasks like path planning towards increased autonomy. While the goal is to efficiently compute a path to a target destination, the uncertainty in the robot's perception cannot be ignored if a realistic path is to be computed. With most state of the art navigation systems...
This is a paper about one of our research area's most evasive concepts, namely that of “context”. In HCI as well as UbiComp, it has inspired many projects venturing to exploit the semantics of individual users' contexts. That is lead by intentions to study the potential of human-machine collaborative interaction and make applications behave more efficiently, user-friendly and invisibly. This has not...
GPS receivers have a major drawback: they don't work properly under multi-storey concrete structures, for e.g. in underground car parks, University buildings, shopping malls, factory complexes etc. A navigation system for such huge enclosed spaces, which does not rely on a GPS is very desirable for visitors to such places who do not know the layout of the place. This paper presents the design and...
In this paper we describe an autonomous vehicle that aims at providing shared transportation services in a mobility on demand context. As the service is limited to a known urban environment, prior knowledge of the environment can be exploited, as well as existing infrastructure sensors such as security cameras. We argue that utilizing infrastructure sensors yields greater safety of operation and allows...
Underwater vehicles are currently being extensively used for observation and study of the seafloor. Detailed seafloor analysis requires wide area observations with high resolution information obtained from in-situ analysis from sensors or by sampling. Certain sensors require high altitude and high scanning where as others need proximity to the seafloor or contact with stable footing to perform integrated...
In this paper we investigate the creation of an heterogeneous underwater network with static and mobile assets cooperating together in coordinated missions using acoustic links. Each underwater device combines communication, networking, and sensing capabilities, and cooperates with the other devices to accomplish a given task. The flexibility and capability of the proposed system allows to overcome...
The prospect of a decreasing supply of fossil energy sources necessitates the search for alternative ways of individual transport. An important step is the electrification of the drive train and further vehicle components, enabling a total control of the overall energy flow while at the same time offering more degrees of freedom in optimizing the vehicle architecture. The current status of the development...
We present an autonomous vehicle providing mobility-on-demand service in a crowded urban environment. The focus in developing the vehicle has been to attain autonomous driving with minimal sensing and low cost, off-the-shelf sensors to ensure the system's economic viability. The autonomous vehicle has successfully completed over 50 km handling numerous mobility requests during the course of multiple...
Environment perception is a major research issue which is very important in the field of robotic system. In order to identify the horizon line and the drivable region, we have proposed a visual-perception system based on an automatic image discarding method as a simple solution to improve the system performance. In this paper, all these previous methods are organized in a visual-perception layer which...
Autonomous Underwater Vehicles (AUVs) are used for an ever increasing range of applications due to the maturing of the technology. Due to the absence of the GPS signal underwater, the correct estimation of its position is a challenge for submerged vehicles. One promising strategy to mitigate this problem is to use a group of AUVs where one or more assume the role of a beacon vehicle which has a very...
Autonomous Underwater Vehicles (AUVs) present an enormous application potential, and the real time accurate position and attitude information is important for AUVs. In order to obtain comprehensive and accurate position and attitude data of AUVs, focusing on the common low cost sensors configuration, the data fusion problem of SINS/USBL/AHRS combination is presented and studied in this paper. Firstly,...
GPS receiver performance can suffer in difficult environments such as urban canyons and heavy foliage. Inertial sensors provide information between GPS updates and can enhance the position solution in a GPS/INS architecture. Additional information from safety sensors already on the vehicle, such as lane departure warning (LDW) sensors, can enhance the navigation solution further by constraining inertial...
This paper presents the platform and system architecture of an intelligent vehicle, presenting the control system modules allowing the vehicle to navigate autonomously. Our research group has been developed works on autonomous navigation and driver assistance systems, using CaRINA I platform to experiments and validation. Our platform includes mechanical vehicle adaptations and the development of...
The AUVSI Autonomous Surface vehicle event is a student-based competition where teams design, build and compete with fully autonomous surface vessel. These vehicles are required to preform many different tasks that vary from competition to competition but the ability to navigate channels marked by red and green markers and perform GPS based navigation is always a constant. Embry-Riddle Aeronautical...
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