11 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
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…
When a motor-powered vessel travels past a fixed hydrophone in a multipath environment, a Lloyd's mirror constructive/destructive interference pattern is observed in the output spectrogram. The power cepstrum detects the periodic structure of the Lloyd's mirror pattern by generating a sequence of pu…
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…
The propagation of sound in a shallow water environment is characterized by boundary reflections from the sea surface and sea floor. These reflections result in multiple (indirect) sound propagation paths, which can degrade the performance of passive sound source localization methods. This paper pro…
This paper considers the modelling of scalar fields exhibiting non-stationary noise in the context of Gaussian Process (GP) regression. We show how a Heteroscedastic GP produces more accurate predictions of the variance of a process of this type compared to the standard Homoscedastic model. We prese…
A cost effective approach to remote monitoring of protected areas such as marine reserves and restricted naval waters is to use passive sonar to detect, classify, localize, and track marine vessel activity (including small boats and autonomous underwater vehicles). Cepstral analysis of underwater ac…
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