A User-Friendly Bimanual Teleoperation Framework for Controlling Light Duty Underwater Vehicle-Manipulator Systems
This paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underwater vehicle-manipulator system (UVMS) using two low-cost haptic devices.
Real-Time Reconfiguration and Connectivity Maintenance for AUVs Network Under External Disturbances using Distributed Nonlinear Model Predictive Control
Proposing a novel control scheme for real-time reconfiguration and connectivity maintenance in AUV networks using Distributed Nonlinear Model Predictive Control.
Collaborative Aquatic Positioning System Using Multi-beam Sonar and Depth Sensors
Innovative underwater positioning system for ROVs in confined environments.
Enhancing Underwater Glider Path Planning in Dynamic 3D Environments with Multi-Point Potential Fields
The author introduces the Multi-Point Potential Field (MPPF) method to improve real-time path planning for underwater gliders in dynamic 3D environments, addressing obstacles, flow fields, and local minima. The approach enhances efficiency and robustness of path planning for underwater exploration.
CaveSeg: Deep Semantic Segmentation and Scene Parsing for Autonomous Underwater Cave Exploration
The author presents CaveSeg as a visual learning pipeline for semantic segmentation in underwater caves, addressing the scarcity of annotated data. The core thesis focuses on developing a novel transformer-based model that offers real-time execution and state-of-the-art performance.
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