16 papers
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…
DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization
Bharat Joshi, Md Modasshir, Travis Manderson +5
In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous…
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…