Publications related to Autonomous underwater vehicle

Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics

Denis Gillet, Man Shi, Jianwei Li

Path-following control is a critical technology for autonomous vehicles. However, time-varying parameters, parametric uncertainties, external disturbances, and complicated environments significantly challenge autonomous driving. We propose an iterative rob ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Alcherio Martinoli, Anwar Ahmad Quraishi

Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided locali ...

2021

Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation

Jan Skaloud, Gabriel François Laupré

Autonomous navigation is a crucial aspect for fixed-wing unmanned aerial vehicle operation when encountering disturbance or denial of GNSS signal reception. Vehicle dynamic model-based navigation improves the performance of methods based exclusively on int ...

2021

Model Based Navigation of Delta-Wing UAV - In-Flight Calibration and Autonomous Performance

Jan Skaloud, Gabriel François Laupré, Pasquale Longobardi

This paper presents the first practical results of a model-based approach to autonomous navigation applied to a small delta wing drone. The aerodynamic coefficients of the considered platform are unknown and need to be determined for the (vehicle dynamic) ...

2021

Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles

Alcherio Martinoli, Anwar Ahmad Quraishi

One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental samp ...

2021

Distributed Cooperative Localization with Efficient Pairwise Range Measurements

Alcherio Martinoli, Anwar Ahmad Quraishi

We present a method based on covariance intersection for cooperative localization with pairwise range-only relative measurements. Our method was designed for underwater robots equipped with an acoustic communication and ranging system. Range measurements a ...

2021

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill

We present a new Autonomous Underwater Vehicle (AUV) system for cooperative environmental sensing. The AUV was specifically developed as a platform for distributed, cooperative sensing in lakes and coastal areas. In this paper we describe the prerequisite ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

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Autonomous underwater vehicle

Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics

Educational Soft Underwater Robot with an Electromagnetic Actuation

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation

Model Based Navigation of Delta-Wing UAV - In-Flight Calibration and Autonomous Performance

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles

Distributed Cooperative Localization with Efficient Pairwise Range Measurements

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring

Graph Chatbot

Chat with Graph Search

Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics

Educational Soft Underwater Robot with an Electromagnetic Actuation

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Distributed Cooperative Localization with Efficient Pairwise Range Measurements

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring

Model Based Navigation of Delta-Wing UAV - In-Flight Calibration and Autonomous Performance

Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles