14 accepted papers
This letter presents a hierarchical planning approach to the vehicle routing and scheduling problem (VRSP) for marsupial robotic systems, a specialized class of heterogeneous robotic systems in which one type of mobile robot is capable of carrying another. While traditional VRSPs have been widely st
This letter presents a hierarchical planning approach to the vehicle routing and scheduling problem (VRSP) for marsupial robotic systems, a specialized class of heterogeneous robotic systems in which one type of mobile robot is capable of carrying another. While traditional VRSPs have been widely st…
Underwater acoustic communication, characterized by limited bandwidth, high latency, and low reliability, poses significant challenges for data exchange in bathymetric collaborative simultaneous localization and mapping (CSLAM). In this article, we introduce a novel vector quantization (VQ) method c…
In this study, we introduce an innovative algorithm for enhanced navigational scene understanding in complex maritime environments by utilizing large language models (LLM) and visual language models (VLM) to achieve autonomous maritime situational awareness. The proposed algorithm interprets the mea
Determining the position of obstacles is crucial for unmanned vehicles, and, to achieve this, cameras and radar sensors are widely utilized. However, establishing correlation between two or more sensors proves challenging in the dynamically changing maritime environment. To solve these issues, we pr…
Over the last few decades, numerous LiDAR-inertial odometry (LIO) algorithms have been developed, demonstrating satisfactory performance across diverse environments. Most of these algorithms have predominantly been validated in open outdoor environments; however, they often encounter challenges in c
Existing bathymetric simultaneous localization and mapping (SLAM) methods predominantly rely on odometry information for loop closure detection, which has a deteriorating performance when handling unreliable odometry data or conducting large-scale mapping missions. This letter introduces a novel gen
This letter presents an integrated navigation and control strategy for an autonomous surface vehicle (ASV) to operate in narrow waterways without relying on GPS. The proposed method uses a camera and a light detection and ranging (LiDAR) sensor to detect navigable regions in the waterway. A deep lea
All vessels operating in a marine environment are required to comply with the international regulations for preventing collisions at sea (COLREGs), which provide the guidelines and evasive procedures required to resolve potential conflicts between vessels. However, not all vessels strictly abide by
This study addresses the problem of path optimization for conducting a mapping mission using a multi-robot system with limited sensing capability, which aims to ensure efficient mapping with emphasis on the cooperative aspect of the mission. To achieve the cooperative mapping, a new path planning al…
This letter presents a robust data association method for fusing camera and marine radar measurements in order to automatically detect surface ships and determine their locations with respect to the observing ship. In the preprocessing step for sensor fusion, convolutional neural networks are used t
For an efficient collaboration of multi-robot system during missions, it is essential for the system to create a global map and localize the robots in it. However, the relative poses among robots may be unknown, preventing the system from generating the reference map. In such cases, the necessary in
This paper addresses a vehicle localization method that fuses aerial maps and lidar data in urban canyon environments where global positioning system (GPS) signals are inaccurate. The boundaries of buildings are extracted from the aerial map and they are matched to point cloud data provided by the l…
This paper proposes a method for jointly estimating road layout and segmenting urban scenes semantically by applying a relative location prior. The proposed method is based on the conjecture that some relevant elements in urban environments tend to be located in a predictable manner. This belief can…