8 accepted papers
Autonomous Underwater Vehicles (AUVs) conduct regular visual surveys of marine environments to characterise and monitor the composition and diversity of the benthos. The use of machine learning classifiers for this task is limited by the low numbers of annotations available and the many fine-grained…
For Underwater Vehicle Manipulator Systems (UVMS), the ability to keep a fixed end effector pose is required for intervention tasks. Maintaining a static configuration in a dynamic underwater environment requires significant amounts of energy over time, limiting the operational time for battery powe…
Systems with a manipulator and a mobile base, such as in aerial and underwater applications, are susceptible to disturbances which create difficulties in maintaining a desired end effector pose. However, kinematically redundant vehicle manipulator systems can make use of the continuous space of conf
Systems of multiple low-cost, underactuated floats combined with fully actuated surface vessels can improve the scalability and cost-effectiveness of autonomous systems for marine science and environmental monitoring. Here, we consider a coordination problem where surface vessels must drop off float…
Camera equipped Autonomous Underwater Vehicles (AUVs) are now routinely used in seafloor surveys. Obtaining effective representations from the images they collect can enable perception-aware robotic exploration such as information-gain-guided path planning and target-driven visual navigation. This l
Autonomous Underwater Vehicles (AUVs) are increasingly being used to support scientific research and monitoring studies. One such application is in benthic habitat mapping where these vehicles collect seafloor imagery that complements broadscale bathymetric data collected using sonar. Using these tw…
Handling loop closures and intervehicle observations in cooperative robotic scenarios remains a challenging problem due to data consistency, bandwidth limitations and increased computation requirements. This paper develops a general cooperative localisation and single vehicle Visual SLAM framework t…
Autonomous underwater vehicles (AUVs) are widely used to perform information gathering missions in unseen environments. Given the sheer size of the ocean environment, and the time and energy constraints of an AUV, it is important to consider the potential utility of candidate missions when performin