Dexterous Underwater Manipulation from Distant Onshore Locations

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Path-following control is a critical technology for autonomous vehicles. However, time-varying parameters, parametric uncertainties, external disturbances, and complicated environments significantly challenge autonomous driving. We propose an iterative rob ...

Autonomous navigation is a crucial aspect for fixed-wing unmanned aerial vehicle operation when encountering disturbance or denial of GNSS signal reception. Vehicle dynamic model-based navigation improves the performance of methods based exclusively on int ...

Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at ...

Teleoperators rely on both visual and haptic feedback to perform drone teleoperation tasks, such as obstacle avoidance. Haptic feedback becomes essential when visual feedback is compromised, either due to visual occlusions or poor depth perception. However ...

In this paper, we present the first general solution to the automatic reconfiguration problem of timed discrete-event systems. We extend the recursive forcible backtracking approach which had been already solved the automatic reconfiguration problem of unt ...

he concept of ranked order probability distribution unveils natural probabilistic interpretations for the kink waves (and hence the solitons) solving higher order dispersive Burgers’ type PDEs. Thanks to this underlying structure, it is possible to propose ...

We present a new Autonomous Underwater Vehicle (AUV) system for cooperative environmental sensing. The AUV was specifically developed as a platform for distributed, cooperative sensing in lakes and coastal areas. In this paper we describe the prerequisite ...

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

Applications of robots for gathering data in underwater environments has been limited due to the challenges posed by the medium. We have developed a miniature, agile, easy to carry and deploy Autonomous Underwater Vehicle (AUV) equipped with a suite of sen ...

Theoretical methods for estimating the bearing capacity of surface strip footings usually do not consider soil-structure interaction. A few publications deal with the subject, but all of these either do not apply rigorous methods or do not consider the gen ...

An easy-to-customize, low-cost solution for remote imagery is described. The system, denoted ImPROV (Imaging Package for Remote Vehicles), supports multiple cameras, live streaming, long-range encrypted communication using mobile networks, positioning and ...

Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due t ...

Force feedback is a powerful sensory cue that can provide a user, remotely teleoperating a vertical takeoff and landing (VTOL) aerial robotic vehicle, with an enhanced perception of the robot motion and interaction with the local environment. The accepted ...

Stress fields and strut-and-tie models are widely used for design and assessment of structural concrete members. Although they are often used in the same manner for both purposes, developing suitable stress fields and strut-and-tie models for the design of ...

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but h ...

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios req ...

The Monge problem (Monge 1781; Taton 1951), as reformulated by Kantorovich (2006a, 2006b) is that of the transportation at a minimum "cost" of a given mass distribution from an initial to a final position during a given time interval. It is an optimal tran ...

Dynamic mesh adaptation on unstructured grids, by localised refinement and derefinement, is a very efficient tool for enhancing solution accuracy and optimise computational time. One of the major drawbacks however resides in the projection of the new nodes ...

It has long been acknowledged that the well known and frequently used stability criterion beta(p)< 0.3 for the toroidal ideal magnetohydrodynamic internal kink mode in a tokamak is inaccurate for an empirically relevant safety factor. The present paper out ...

Dexterous Underwater Manipulation from Distant Onshore Locations

Chattez avec Graph Search

Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics

Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Arm-wrist haptic sleeve for drone teleoperation

Reconfigurable Timed Discrete-Event Systems

Brownian Swarm Dynamics and Burgers’ Equation with Higher Order Dispersion

Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Autonomous Feature Tracing and Adaptive Sampling in Real-World Underwater Environments

On the Soil-Structure Interaction of Surface Strip Footings at Ultimate Limit State

Adaptable Imaging Package for Remote Vehicles

An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles

Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial Robots

Design versus Assessment of Concrete Structures Using Stress Fields and Strut-and-Tie Models

Flexible triangular formation keeping of marine robotic vehicles using range measurements

Joint ASV/AUV Range-Based Formation Control: Theory and Experimental Results

On A Class Of Mean Field Solutions Of The Monge Problem For Perfect And Self-Interacting Systems

Parallel mesh adaptive techniques for complex flow simulation

Safety factor corrections to the magnetohydrodynamic internal kink mode in a tokamak