5 papers · 1 filter
AMR-Pose: An Active LED Marker-Based Relative Pose Estimation Framework With Probabilistic Switching PnP for Cooperative AUVs
Zeyu Sha, Xiaorui Wang, Mingyang Yang +1
Reliable relative pose estimation between autonomous underwater vehicles (AUVs) is critical for cooperative ocean exploration, sampling, and multi-robot coordination. However, achi…
Inductance-Based Force Self-Sensing in Fiber-Reinforced Pneumatic Twisted-and-Coiled Actuators
Yunsong Zhang, Tianlin Li, Mingyang Yang +1
Fiber-reinforced pneumatic twisted-and-coiled actuators (FR-PTCAs) offer high power density and compliance but their strong hysteresis and lack of intrinsic proprioception limit ef…
Learning-Based Leader Localization for Underwater Vehicles With Optical-Acoustic-Pressure Sensor Fusion
Mingyang Yang, Zeyu Sha, Feitian Zhang
Underwater vehicles have emerged as a critical technology for exploring and monitoring aquatic environments. The deployment of multi-vehicle systems has gained substantial interest…
A Multi-Modal Approach Based on Large Vision Model for Close-Range Underwater Target Localization
Mingyang Yang, Zeyu Sha, Feitian Zhang
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwate…
Adaptive Integral Sliding Mode Control for Attitude Tracking of Underwater Robots With Large Range Pitch Variations in Confined Space
Xiaorui Wang, Zeyu Sha, Feitian Zhang
Underwater robots play a crucial role in exploring aquatic environments. The ability to flexibly adjust their attitudes is essential for underwater robots to effectively accomplish…