10 citations · 17 across the 15 of their papers we have counts for
14 papers · 1 filter
ProAct-VLM: Pre-Failure Vision-Language Task Replanning with Continuous Perception Feedback
Ahmed Nader Ahmed, Omar Moured, Mughni Irfan Mohammed Abdul +2
Long-horizon robotic tasks are vulnerable to unexpected environmental changes that can render planned actions ineffective or unsafe. To address this, robots must detect such change…
RIT*: Riemannian Informed Trees for Cost-Adaptive Optimal Motion Planning
Muhayy Ud Din, Ahmed Nadar, Jan Rosell +1
We present Riemannian Informed Trees (RIT*), a planning framework that replaces Euclidean primitives in batch-informed search with their Riemannian counterparts. RIT* constructs a…
SAGP: Semantic Affordance-Guided Grasp Planning via Coarse-Zone VLM Reasoning
Muhayy Ud Din, Irfan Hussain
Geometry-based grasp planners ensure physically valid grasps but ignore functional semantics, often generating grasps that are antipodal and collision-free yet practically inapprop…
LLM-VLM Fusion Framework for Autonomous Maritime Port Inspection using a Heterogeneous UAV-USV System
Muhayy Ud Din, Waseem Akram, Ahsan B. Bakht +1
Maritime port inspection plays a critical role in ensuring safety, regulatory compliance, and operational efficiency in complex maritime environments. However, existing inspection…
Lang2Manip: A Tool for LLM-Based Symbolic-to-Geometric Planning for Manipulation
Muhayy Ud Din, Jan Rosell, Waseem Akram +1
Simulation is essential for developing robotic manipulation systems, particularly for task and motion planning (TAMP), where symbolic reasoning interfaces with geometric, kinematic…
AquaChat: An LLM-Guided ROV Framework for Adaptive Inspection of Aquaculture Net Pens
Waseem Akram, Muhayy Ud Din, Abdelhaleem Saad +1
Inspection of aquaculture net pens is essential for maintaining the structural integrity, biosecurity, and operational efficiency of fish farming systems. Traditional inspection ap…
A Review of Generative AI in Aquaculture: Foundations, Applications, and Future Directions for Smart and Sustainable Farming
Waseem Akram, Muhayy Ud Din, Lyes Saad Soud +1
Generative Artificial Intelligence (GAI) has rapidly emerged as a transformative force in aquaculture, enabling intelligent synthesis of multimodal data, including text, images, au…
Vision Language Action Models in Robotic Manipulation: A Systematic Review
Muhayy Ud Din, Waseem Akram, Lyes Saad Saoud +2
Vision Language Action (VLA) models represent a transformative shift in robotics, with the aim of unifying visual perception, natural language understanding, and embodied control w…
Maritime Mission Planning for Unmanned Surface Vessel using Large Language Model
Muhayy Ud Din, Waseem Akram, Ahsan B Bakht +2
Unmanned Surface Vessels (USVs) are essential for various maritime operations. USV mission planning approach offers autonomous solutions for monitoring, surveillance, and logistics…
Drone Carrier: An Integrated Unmanned Surface Vehicle for Autonomous Inspection and Intervention in GNSS-Denied Maritime Environment
Yihao Dong, Muhayyu Ud Din, Francesco Lagala +5
This paper introduces an innovative drone carrier concept that is applied in maritime port security or offshore rescue. This system works with a heterogeneous system consisting of…
LLM-guided Task and Motion Planning using Knowledge-based Reasoning
Muhayy Ud Din, Jan Rosell, Waseem Akram +3
Performing complex manipulation tasks in dynamic environments requires efficient Task and Motion Planning (TAMP) approaches that combine high-level symbolic plans with low-level mo…
An Aerial Transport System in Marine GNSS-Denied Environment
Jianjun Sun, Zhenwei Niu, Yihao Dong +6
This paper presents an autonomous aerial system specifically engineered for operation in challenging marine GNSS-denied environments, aimed at transporting small cargo from a targe…
Long-Range Vision-Based UAV-assisted Localization for Unmanned Surface Vehicles
Waseem Akram, Siyuan Yang, Hailiang Kuang +7
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS ma…
Object Manipulation in Marine Environments using Reinforcement Learning
Ahmed Nader, Muhayy Ud Din, Mughni Irfan +1
Performing intervention tasks in the maritime domain is crucial for safety and operational efficiency. The unpredictable and dynamic marine environment makes the intervention tasks…