13 papers
Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection
Tareq Aziz Alqutami, Yvan Petillot, Matthew W. Dunnigan +1
Contact-based industrial inspection requires aerial platforms to maintain stable interaction while rejecting disturbances. Underactuated aerial manipulators present control challen…
A Collaborative Reasoning Framework for Anomaly Diagnostics in Underwater Robotics
Markus Buchholz, Niamh Ellis, Rahaf Abu Hara +2
The safe deployment of autonomous systems in safety-critical settings requires a paradigm that combines human expertise with AI-driven analysis, especially when anomalies are unfor…
BALTIC: A Benchmark and Cross-Domain Strategy for 3D Reconstruction Across Air and Underwater Domains Under Varying Illumination
Michele Grimaldi, David Nakath, Oscar Pizarro +3
Robust 3D reconstruction across varying environmental conditions remains a critical challenge for robotic perception, particularly when transitioning between air and water. To addr…
InsSo3D: Inertial Navigation System and 3D Sonar SLAM for turbid environment inspection
Simon Archieri, Ahmet Cinar, Shu Pan +4
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (IN…
VISO: Robust Underwater Visual-Inertial-Sonar SLAM with Photometric Rendering for Dense 3D Reconstruction
Shu Pan, Simon Archieri, Ahmet Cinar +3
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VI…
Towards reliable subsea object recovery: a simulation study of an auv with a suction-actuated end effector
Michele Grimaldi, Yosaku Maeda, Hitoshi Kakami +3
Autonomous object recovery in the hadal zone is challenging due to extreme hydrostatic pressure, limited visibility and currents, and the need for precise manipulation at full ocea…