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Development of an autonomous unmanned surface vehicle (USV) that may serve as a mother ship for a small unmanned aerial vehicle (UAV) and a small autonomous underwater vehicle (AUV), in support of surface autonomy in sensing and surveillance missions, is described. The USV development includes implementation of low-level controls, stereovision perception, and a task-oriented high-level planner, which...
This paper proposes and implements a convolutional neural network (CNN) that maps images from a camera to an error signal to guide and control an autonomous underwater vehicle into the entrance of a docking station. The paper proposes to use an external positioning system synchronized with the vehicle to obtain a dataset of images matched with the position and orientation of the vehicle. By using...
This paper reports what to our best knowledge is the first commercially delivered under-ice survey carried out by an autonomous underwater vehicle (AUV). The campaign was completed as a collaboration between Kongsberg Maritime (KM) and Ballard Marine Construction in January 2017. The surveys took place beneath a frozen lake in North America using a rental KM MUNIN AUV, with launch and recovery through...
This paper presents an autonomous approach of 3-D reconstruction of underwater terrain using multi-level coverage trees. An autonomous underwater vehicle (AUV) equipped with multi-beam sonar sensors, Doppler velocity log (DVL) and inertial measurement unit (IMU) sensors is used to achieve this goal. The underwater 3-D search space is represented by a multi-level coverage tree which is generated online...
This work describes how fuzzy logic control FLC can be applied to sonar sensors of a Pioneer 3-DX mobile robot. The fuzzy logic approach has proved its effectiveness in the navigation of mobile robots in known and unknown environments in the different industrial areas. It provides a mechanism for combining sensor data from all sonar sensors and a position sensor which present different information...
This paper presents a new approach for navigating a quadrotor over undulated terrains that can be of great importance for the use of unmanned aerial vehicles in civilian applications such as monitoring of pipes, bridges and buildings. The proposed approach involves the use of a single-beam LiDAR to estimate the terrain profile under uncertainty. The LiDAR is installed at the base of a quadrotor and...
Multispectral setups have a great potential to tackle problems such as collision avoidance or pedestrian detection. However, multispectral odometry is nowadays less precise than most stereo visible setups, so there is a need to improve such systems. With this work, we investigate the fusion of inertial data with visual information to improve the performance of multispectral setups. Inertial data are...
The objective of this work is to introduce an autonomous Hovercraft with minimum Energy consumption. To achieve this goal, a computer simulation in addition to practical testing of a simple hovercraft model have been carried out. A mathematical model for the hovercraft is considered and simulated in the MATLAB/SIMULINK environment. A navigation system with Global Positioning System (GPS) integrated...
Smart devices can be considered an essential element of the Internet-of-Things (IoT) revolution. Devices able to gather and process data to provide high-level information to other nodes will enable advanced and effective smart applications in the near future. To let IoT objects to become smarter and smarter, advanced embedded architecture must be considered. In this direction, this paper exploits...
In this study, changes in the pulse direction and flight path of bats during an obstacle-avoiding flight were experimentally investigated. While flying in unfamiliar space, bats often produced pairs of emissions (double pulses) and shifted the pulse direction between immediate obstacles and their intended flight direction. To confirm the practical effectiveness of the bats' behaviour, the observed...
This paper presents Thales main results for the maturity development activities of TopAxyz MEMS Vibrating Beam Accelerometer (VBA) using a differential resonator architecture implemented on a planar SOI silicon layer. Proof of concept with Navigation grade performances level has already been presented at ISS2012. Development focused on two major challenges: to reach a high production yield and to...
This paper aims at developing a sensor-based Co-Active adaptive neuro-fuzzy inference system (CANFIS) for solving navigation problems of the mobile robot in an uncertain environment. The infrared sensor reads the distances of right, front and left obstacle. The collision-free path is accomplished by CANFIS controller which selects the desired steering angle by construing the obstacle distance information...
Autonomous mobile robots use vision sensors for navigation due to its ability to provide detailed information of the environment. Visual perception of an environment, is an important capability for mobile robots, so many efforts are leading the research community for such a fundamental and challenging task. An aspect to emphasize is that vision systems have to cope with uncertainty because sensors...
This paper presents a measure intended to quantify the relative strategic depth of games as experienced by human players. The measure is based on the complexity (number and specificity of rules) of a hierarchical knowledge base that is extracted from playtraces. As a proof-of-concept, we compute the proposed measure for three arcade-style games and compare the results to the strategic depth reportedly...
Depending on standards and class, dynamically positioned ships make use of different numbers of redundant sensors to determine current ship position. The paper presents a multi-sensor data fusion algorithm for the dynamic positioning system which allows it to record the proper signal from a number of sensors (GPS receivers). In the research, the Particle Kalman Filter with data fusion was used to...
This paper proposes a novel approach for constructing a docking path for underwater vehicles, using a new spiral resulting of combining the Fermat and logarithmic spirals. The proposed spiral path has two properties that will help solve some of the challenges of docking autonomous underactuated vehicles (AUVs). The first property is that the spiral path reaches the entrance of the docking station...
Reliable navigation of a low-cost mobile robot in an indoor environment can prove to be challenging as position fixing sensors, such as a GNSS receiver, are typically unavailable. Subscribing to the premise of a baseline of odometry and inertial sensors, this paper compares three navigation strategies, namely, a full 6-DOF inertial measurement unit (IMU) with kinematic constraints, a partial IMU with...
Autonomous Indoor Vehicle (AIV) is used for various purposes so it can reduce human workload. This study aims to develop a corridor navigation system for AIV that utilizes vision-based multi point sensing. Multi-point sensing techniques on floor and corridor areas are used to detect obstacle-free areas and estimate the direction of AIV. Area detection and direction estimation are used as input information...
When the satellite signal is blocked, the ground terminal cannot be accurately positioned because it cannot receive the satellite signal. In this case, it is necessary to study how to use other ways to achieve positioning and navigation. Inertial navigation inertial sensors to rely on sensing carrier acceleration and angular velocity, the position of the carrier can provide continuous in is not dependent...
The recent growing interest for indoor Location-Based Services (LBSs) has created a need for more accurate and low-cost indoor localization system. The existing solutions are either low-cost with low-accuracy or high-accuracy with high-cost. A positioning solution for indoor localization system with Bluetooth and UWB is proposed in this paper. The system combines both advantages of Bluetooth and UWB,...
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