3 citations · 4 across the 21 of their papers we have counts for
9 papers · 1 filter
Contact-Aided Factor-Graph Localization for Underwater Sampling
Michele Grimaldi, Yosaku Maeda, Hitoshi Kakami +3
Accurate state estimation for autonomous underwater vehicles performing close-range seafloor sampling remains challenging. In low-altitude operation, down-looking cameras over feat…
A Cognitive Architecture for Shared Autonomy in AUV Operations
Niamh Ellis, Thi Tran, Ignacio Carlucho +1
Operators remain essential to Remotely Operated Vehicle (ROV) operation, yet often suffer from low situational awareness and high workload, both of which negatively affect safety.…
Beyond Shallow-Water Photorealism: Physically and Sensor-Grounded Simulation for Deep-Sea Robotics
Michele Grimaldi, Enrico Di Maria, Ignacio Carlucho +1
Many recent underwater simulators emphasize visual realism at the expense of physical fidelity, focusing on shallow-water effects with limited relevance in deep-water environments…
SAGE: Ergodic Control for Autonomous and Adaptive Inspection of Subsea Infrastructure
Markus Buchholz, Ignacio Carlucho, Yvan R. Petillot
Subsea Christmas Trees (XTs) are underwater structures that use valves for directing oil flow, needing constant inspection. But not every valve carries the same risk at the same ti…
World-Model-Grounded LLM Planning for AUV and ASV Navigation Near Offshore Wind Farms
Markus Buchholz, Ignacio Carlucho, Yvan R. Petillot
Large language models can turn a natural-language mission into a sequence of robot actions, but they do not have a sense of physics: they cannot judge how long a command should run…
BALTIC: A Benchmark and Cross-Domain Strategy for 3D Reconstruction Across Air and Underwater Domains Under Varying Illumination
Michele Grimaldi, David Nakath, Oscar Pizarro +3
Robust 3D reconstruction across varying environmental conditions remains a critical challenge for robotic perception, particularly when transitioning between air and water. To addr…
Towards reliable subsea object recovery: a simulation study of an auv with a suction-actuated end effector
Michele Grimaldi, Yosaku Maeda, Hitoshi Kakami +3
Autonomous object recovery in the hadal zone is challenging due to extreme hydrostatic pressure, limited visibility and currents, and the need for precise manipulation at full ocea…
InsSo3D: Inertial Navigation System and 3D Sonar SLAM for turbid environment inspection
Simon Archieri, Ahmet Cinar, Shu Pan +4
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (IN…
VISO: Robust Underwater Visual-Inertial-Sonar SLAM with Photometric Rendering for Dense 3D Reconstruction
Shu Pan, Simon Archieri, Ahmet Cinar +3
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VI…