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04/05/2023
Real-Time Dense 3D Mapping of Underwater Environments
This paper addresses real-time dense 3D reconstruction for a resource-co...
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04/04/2023
SM/VIO: Robust Underwater State Estimation Switching Between Model-based and Visual Inertial Odometry
This paper addresses the robustness problem of visual-inertial state est...
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03/07/2023
Weakly Supervised Caveline Detection For AUV Navigation Inside Underwater Caves
Underwater caves are challenging environments that are crucial for water...
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03/10/2022
High Definition, Inexpensive, Underwater Mapping
In this paper we present a complete framework for Underwater SLAM utiliz...
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11/27/2021
Average Outward Flux Skeletons for Environment Mapping and Topology Matching
We consider how to directly extract a road map (also known as a topologi...
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10/04/2021
AquaVis: A Perception-Aware Autonomous Navigation Framework for Underwater Vehicles
Visual monitoring operations underwater require both observing the objec...
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03/29/2021
Dynamic Autonomous Surface Vehicle Control and Applications in Environmental Monitoring
This paper addresses the problem of robotic operations in the presence o...
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03/11/2020
DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization
In this paper, we propose a real-time deep-learning approach for determi...
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08/07/2019
Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces
The ability to navigate, search, and monitor dynamic marine environments...
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08/07/2019
Riverine Coverage with an Autonomous Surface Vehicle over Known Environments
Environmental monitoring and surveying operations on rivers currently ar...
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08/07/2019
Meander Based River Coverage by an Autonomous Surface Vehicle
Autonomous coverage has tremendous importance for environmental surveyin...
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04/03/2019
Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain
A plethora of state estimation techniques have appeared in the last deca...
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03/28/2019
Navigation in the Presence of Obstacles for an Agile Autonomous Underwater Vehicle
Navigation underwater traditionally is done by keeping a safe distance f...
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11/25/2018
Autonomous Marine Sampling Enhanced by Strategically Deployed Drifters in Marine Flow Fields
We present a transportable system for ocean observations in which a smal...
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10/07/2018
SVIn2: Sonar Visual-Inertial SLAM with Loop Closure for Underwater Navigation
This paper presents a novel tightly-coupled keyframe based Simultaneous ...
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09/10/2018
Underwater Surveying via Bearing only Cooperative Localization
Bearing only cooperative localization has been used successfully on aeri...
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09/09/2018
External Force Field Modeling for Autonomous Surface Vehicles
Operating in the presence of strong adverse forces is a particularly cha...
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08/27/2018
An Autonomous Surface Vehicle for Long Term Operations
Environmental monitoring of marine environments presents several challen...
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08/07/2018
Multi-robot Dubins Coverage with Autonomous Surface Vehicles
In large scale coverage operations, such as marine exploration or aerial...
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08/07/2018
Efficient Multi-Robot Coverage of a Known Environment
This paper addresses the complete area coverage problem of a known envir...
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03/10/2018
Dynamically Efficient Kinematics for Hyper-Redundant Manipulators
A hyper-redundant robotic arm is a manipulator with many degrees of free...
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01/30/2018
