1.1k citations · 1.5k across the 25 of their papers we have counts for
25 papers
Mapping the Catacombs: An Underwater Cave Segment of the Devil's Eye System
Michalis Chatzispyrou, Luke Horgan, Hyunkil Hwang +5
This paper presents a framework for mapping underwater caves. Underwater caves are crucial for fresh water resource management, underwater archaeology, and hydrogeology. Mapping th…
CaveSeg: Deep Semantic Segmentation and Scene Parsing for Autonomous Underwater Cave Exploration
A. Abdullah, T. Barua, R. Tibbetts +3
In this paper, we present CaveSeg - the first visual learning pipeline for semantic segmentation and scene parsing for AUV navigation inside underwater caves. We address the proble…
Real-Time Dense 3D Mapping of Underwater Environments
Weihan Wang, Bharat Joshi, Nathaniel Burgdorfer +4
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challe…
SM/VIO: Robust Underwater State Estimation Switching Between Model-based and Visual Inertial Odometry
Bharat Joshi, Hunter Damron, Sharmin Rahman +1
This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to…
Weakly Supervised Caveline Detection For AUV Navigation Inside Underwater Caves
Boxiao Yu, Reagan Tibbetts, Titon Barua +3
Underwater caves are challenging environments that are crucial for water resource management, and for our understanding of hydro-geology and history. Mapping underwater caves is a…
High Definition, Inexpensive, Underwater Mapping
Bharat Joshi, Marios Xanthidis, Sharmin Rahman +1
In this paper we present a complete framework for Underwater SLAM utilizing a single inexpensive sensor. Over the recent years, imaging technology of action cameras is producing st…
Average Outward Flux Skeletons for Environment Mapping and Topology Matching
Morteza Rezanejad, Babak Samari, Elham Karimi +3
We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly…
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…
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…
Autonomous Marine Sampling Enhanced by Strategically Deployed Drifters in Marine Flow Fields
Johanna Hansen, Sandeep Manjanna, Alberto Quattrini Li +2
We present a transportable system for ocean observations in which a small autonomous surface vehicle (ASV) adaptively collects spatially diverse samples with aid from a team of ine…
SVIn2: An Underwater SLAM System using Sonar, Visual, Inertial, and Depth Sensor
Sharmin Rahman, Alberto Quattrini Li, Ioannis Rekleitis
This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the un…
Underwater Surveying via Bearing only Cooperative Localization
Hunter Damron, Alberto Quattrini Li, Ioannis Rekleitis
Bearing only cooperative localization has been used successfully on aerial and ground vehicles. In this paper we present an extension of the approach to the underwater domain. The…
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…
Dynamically Efficient Kinematics for Hyper-Redundant Manipulators
Marios P. Xanthidis, Kostantinos J. Kyriakopoulos, Ioannis Rekleitis
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom a…
Analysis of Motion Planning by Sampling in Subspaces of Progressively Increasing Dimension
Marios P. Xanthidis, Joel M. Esposito, Ioannis Rekleitis +1
Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include…