Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection
In built infrastructure monitoring, an efficient path planning algorithm is essential for robotic
inspection of large surfaces using computer vision. In this work, we first formulate the …
inspection of large surfaces using computer vision. In this work, we first formulate the …
Advanced perception, navigation and planning for autonomous in-water ship hull inspection
Inspection of ship hulls and marine structures using autonomous underwater vehicles has
emerged as a unique and challenging application of robotics. The problem poses rich …
emerged as a unique and challenging application of robotics. The problem poses rich …
Active planning for underwater inspection and the benefit of adaptivity
We discuss the problem of inspecting an underwater structure, such as a submerged ship
hull, with an autonomous underwater vehicle (AUV). Unlike a large body of prior work, we …
hull, with an autonomous underwater vehicle (AUV). Unlike a large body of prior work, we …
Bayesian optimisation for informative continuous path planning
Environmental monitoring with mobile robots requires solving the informative path planning
problem. A key challenge is how to compute a continuous path over space and time that will …
problem. A key challenge is how to compute a continuous path over space and time that will …
Stochastic poisson surface reconstruction
We introduce a statistical extension of the classic Poisson Surface Reconstruction algorithm
for recovering shapes from 3D point clouds. Instead of outputting an implicit function, we …
for recovering shapes from 3D point clouds. Instead of outputting an implicit function, we …
[HTML][HTML] The pinax-model for accurate and efficient refraction correction of underwater cameras in flat-pane housings
The calibration and refraction correction process for underwater cameras with flat-pane
interfaces is presented that is very easy and convenient to use in real world applications …
interfaces is presented that is very easy and convenient to use in real world applications …
Model predictive control for underwater robots in ocean waves
DC Fernández, GA Hollinger - IEEE Robotics and Automation …, 2016 - ieeexplore.ieee.org
Underwater robots beneath ocean waves can benefit from feedforward control to reduce
position error. This letter proposes a method using model predictive control (MPC) to predict …
position error. This letter proposes a method using model predictive control (MPC) to predict …
Energy‐efficient path planning for solar‐powered mobile robots
We explore the problem of energy‐efficient, time‐constrained path planning of a solar‐
powered robot embedded in a terrestrial environment. Because of the effects of changing …
powered robot embedded in a terrestrial environment. Because of the effects of changing …
Multiobjective coverage path planning: Enabling automated inspection of complex, real-world structures
An important open problem in robotic planning is the autonomous generation of 3D
inspection paths–that is, planning the best path to move a robot along in order to inspect a …
inspection paths–that is, planning the best path to move a robot along in order to inspect a …
The next best underwater view
To image in high resolution large and occlusion-prone scenes, a camera must move above
and around. Degradation of visibility due to geometric occlusions and distances is …
and around. Degradation of visibility due to geometric occlusions and distances is …