10 papers
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…
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…
AquaChat++: LLM-Assisted Multi-ROV Inspection for Aquaculture Net Pens with Integrated Battery Management and Thruster Fault Tolerance
Abdelhaleem Saad, Waseem Akram, Irfan Hussain
Inspection of aquaculture net pens is essential for ensuring the structural integrity and sustainable operation of offshore fish farming systems. Traditional methods, typically bas…
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…