5 papers
CAVE-NAV: VLM-Based Autonomous 3D Navigation in Underwater Cave Environments
Zhenqi Wu, Yuanjie Lu, Yisheng Zhang +4
Autonomous navigation in underwater cave environments is essential for search-and-rescue operations, scientific exploration, and emergency egress. Traditional navigation systems co…
Fast Marching based Rendezvous Path Planning for a Team of Heterogeneous Vehicle
Jaekwang Kim, Hyung-Jun Park, Aditya Penumarti +1
This paper presents a formulation for deterministically calculating optimized paths for a multiagent system consisting of heterogeneous vehicles. The key idea is the calculation of…
Synthetic Sonar Image Simulation with Various Seabed Conditions for Automatic Target Recognition
Jaejeong Shin, Shi Chang, Matthew Bays +3
We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the proce…
Time and Cost-Efficient Bathymetric Mapping System using Sparse Point Cloud Generation and Automatic Object Detection
Andres Pulido, Ruoyao Qin, Antonio Diaz +3
Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aqua…
Information-Aware Guidance for Magnetic Anomaly based Navigation
J. Humberto Ramos, Jaejeong Shin, Kyle Volle +3
In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Im…