Publications associées à Robot sous-marin autonome

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

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

Educational Soft Underwater Robot with an Electromagnetic Actuation

Robert Marius Hennig

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

Mary Ann Liebert, 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

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Anwar Ahmad Quraishi

Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at ...

EPFL2021

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

A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras

Auke Ijspeert, Alessandro Crespi, Mehmet Hasan Mutlu, Simon Lukas Hauser, Jorg Conradt, Ibrahim Youssef Youssef, Alexandre Bernardino

The computational load associated with computer vision is often prohibitive, and limits the capacity for on-board image analysis in compact mobile robots. Replicating the kind of feature detection and neural processing that animals excel at remains a chall ...

2020

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