Abstract Coverage Path Planning (CPP) is the task of determining a path that passes over all
points of an area or volume of interest while avoiding obstacles. This task is integral to many …

We present a novel method for planning coverage paths for inspecting complex structures
on the ocean floor using an autonomous underwater vehicle (AUV). Our method initially …

We present an approach to endow an autonomous underwater vehicle with the capabilities
to move through unexplored environments. To do so, we propose a computational …

In this paper, we present an active SLAM framework for volumetric exploration of 3D
underwater environments with multibeam sonar. Recent work in integrated SLAM and …

During autonomous navigation, environmental information and map noises at different
locations may have dissimilar influence on a vehicle's localization process. This implies that …

An essential task for a multi-robot system is generating a common understanding of the
environment and relative poses between robots. Cooperative tasks can be executed only …

The underwater environment is among Earth's most challenging domains, where failures
incur elevated risks and costs for both technology and human endeavors. As a …

A Gaussian process regression (GPR) can be used as a stochastic method for modeling
underwater terrain using multibeam sonar data. A GPR model can improve the effective …

This paper reports on an active SLAM framework for performing large-scale inspections with
an underwater robot. We propose a path planning algorithm integrated with visual SLAM …

Purpose This paper aims to use the Monodepth method to improve the prediction speed of
identifying the obstacles and proposes a Probability Dueling DQN algorithm to optimize the …