1.1k citations · 1.4k across the 25 of their papers we have counts for
23 papers · 1 filter
Sonar-GPS Fusion for Seabed Mapping in Turbid Shallow Waters with an Autonomous Surface Vehicle
Yisheng Zhang, Michael Xu, Alan Williams +3
Accurate seabed mapping is essential for habitat monitoring and infrastructure inspection. In turbid, shallow coastal waters, such as shellfish aquaculture farms, the effectiveness…
Autonomous Search for Sparsely Distributed Visual Phenomena through Environmental Context Modeling
Eric Chen, Travis Manderson, Nare Karapetyan +3
Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating specific coral species of interest remains difficult: target species are…
DREAM: Domain-aware Reasoning for Efficient Autonomous Underwater Monitoring
Zhenqi Wu, Abhinav Modi, Angelos Mavrogiannis +6
The ocean is warming and acidifying, increasing the risk of mass mortality events for temperature-sensitive shellfish such as oysters. This motivates the development of long-term m…
AG-CVG: Coverage Planning with a Mobile Recharging UGV and an Energy-Constrained UAV
Nare Karapetyan, Ahmad Bilal Asghar, Amisha Bhaskar +3
In this paper, we present an approach for coverage path planning for a team of an energy-constrained Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). Both the UA…
Decision-Oriented Learning Using Differentiable Submodular Maximization for Multi-Robot Coordination
Guangyao Shi, Chak Lam Shek, Nare Karapetyan +1
We present a differentiable, decision-oriented learning framework for cost prediction in a class of multi-robot decision-making problems, in which the robots need to trade off the…
UIVNAV: Underwater Information-driven Vision-based Navigation via Imitation Learning
Xiaomin Lin, Nare Karapetyan, Kaustubh Joshi +5
Autonomous navigation in the underwater environment is challenging due to limited visibility, dynamic changes, and the lack of a cost-efficient accurate localization system. We int…
ChatSim: Underwater Simulation with Natural Language Prompting
Aadi Palnitkar, Rashmi Kapu, Xiaomin Lin +3
Robots are becoming an essential part of many operations including marine exploration or environmental monitoring. However, the underwater environment presents many challenges, inc…
OysterSim: Underwater Simulation for Enhancing Oyster Reef Monitoring
Xiaomin Lin, Nitesh Jha, Mayank Joshi +3
Oysters are the living vacuum cleaners of the oceans. There is an exponential decline in the oyster population due to over-harvesting. With the current development of the automatio…
Risk-aware Resource Allocation for Multiple UAVs-UGVs Recharging Rendezvous
Ahmad Bilal Asghar, Guangyao Shi, Nare Karapetyan +4
We study a resource allocation problem for the cooperative aerial-ground vehicle routing application, in which multiple Unmanned Aerial Vehicles (UAVs) with limited battery capacit…
HTRON:Efficient Outdoor Navigation with Sparse Rewards via Heavy Tailed Adaptive Reinforce Algorithm
Kasun Weerakoon, Souradip Chakraborty, Nare Karapetyan +3
We present a novel approach to improve the performance of deep reinforcement learning (DRL) based outdoor robot navigation systems. Most, existing DRL methods are based on carefull…
AdaptiveON: Adaptive Outdoor Local Navigation Method For Stable and Reliable Actions
Jing Liang, Kasun Weerakoon, Tianrui Guan +2
We present a novel outdoor navigation algorithm to generate stable and efficient actions to navigate a robot to reach a goal. We use a multi-stage training pipeline and show that o…
Risk-aware UAV-UGV Rendezvous with Chance-Constrained Markov Decision Process
Guangyao Shi, Nare Karapetyan, Ahmad Bilal Asghar +4
We study a chance-constrained variant of the cooperative aerial-ground vehicle routing problem, in which an Unmanned Aerial Vehicle (UAV) with limited battery capacity and an Unman…
AquaVis: A Perception-Aware Autonomous Navigation Framework for Underwater Vehicles
Marios Xanthidis, Michail Kalaitzakis, Nare Karapetyan +4
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.Th…
Dynamic Autonomous Surface Vehicle Control and Applications in Environmental Monitoring
Nare Karapetyan, Jason Moulton, Ioannis Rekleitis
This paper addresses the problem of robotic operations in the presence of adversarial forces. We presents a complete framework for survey operations: waypoint generation,modelling…
Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces
Jason Moulton, Nare Karapetyan, Michail Kalaitzakis +3
The ability to navigate, search, and monitor dynamic marine environments such as ports, deltas, tributaries, and rivers presents several challenges to both human operated and auton…
Riverine Coverage with an Autonomous Surface Vehicle over Known Environments
Nare Karapetyan, Adam Braude, Jason Moulton +4
Environmental monitoring and surveying operations on rivers currently are performed primarily with manually-operated boats. In this domain, autonomous coverage of areas is of vital…
Meander Based River Coverage by an Autonomous Surface Vehicle
Nare Karapetyan, Jason Moulton, Ioannis Rekleitis
Autonomous coverage has tremendous importance for environmental surveying and exploration tasks performed on rivers both in terms of efficiency and data collection quality. Most su…
Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain
Bharat Joshi, Sharmin Rahman, Michail Kalaitzakis +8
A plethora of state estimation techniques have appeared in the last decade using visual data, and more recently with added inertial data. Datasets typically used for evaluation inc…
Navigation in the Presence of Obstacles for an Agile Autonomous Underwater Vehicle
Marios Xanthidis, Nare Karapetyan, Hunter Damron +5
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicl…
External Force Field Modeling for Autonomous Surface Vehicles
Jason Moulton, Nare Karapetyan, Alberto Quattrini Li +1
Operating in the presence of strong adverse forces is a particularly challenging problem in field robotics. In most robotic operations where the robot is not firmly grounded, such…
An Autonomous Surface Vehicle for Long Term Operations
Jason Moulton, Nare Karapetyan, Sharon Bukhsbaum +5
Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it cov…
Multi-robot Dubins Coverage with Autonomous Surface Vehicles
Nare Karapetyan, Jason Moulton, Jeremy S. Lewis +3
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such…
Efficient Multi-Robot Coverage of a Known Environment
Nare Karapetyan, Kelly Benson, Chris McKinney +2
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all availabl…