Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 15 of 15 for “"autonomous surface vehicle"”.
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Omnidirectional Vision for an Autonomous Surface Vehicle
… in many applications, including surveillance and autonomous navigation. In order to implement a fully autonomous system, one of the essential problems is construction of an accurate, dynamic environment model. In Computer Vision this is called structure from stereo or motion (SFSM). The work in …
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Location Estimation of Obstacles for an Autonomous Surface Vehicle
As the mission field for autonomous vehicles expands into a larger variety of territories, the development of autonomous surface vehicles (ASVs) becomes increasingly important. ASVs have the potential to travel for long periods of time in areas that cannot be reached by aerial, ground, or …
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A Systems Approach to Low-Cost, Modular Autonomous Surface Vehicle and Autonomous Underwater Vehicle Integration
… investigates the utility of docking low-cost Autonomous Underwater Vehicles (AUVs) with low-cost Autonomous Surface Vehicles (ASVs) through the application of the systems process. With the decreasing cost and increasing functionality of consumer electronics, systems integrating …
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Design and Implementation of Control and Perception Subsystems for an Autonomous Surface Vehicle for Aquaculture
… of injury. The MIT Sea Grant lab is designing an autonomous surface vehicle (ASV) to automate the bag flipping process and to reduce the strain on workers. This thesis focuses on the design, implementation, and testing of the electronics and power distribution system, emergency stop safety system, …
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Experiments in Real-time Path Planning for Riverine Environments
… on the development and implementation of an autonomous path planning and obstacle avoidance algorithm for an autonomous surface vehicle (ASV) in a riverine environment. The algorithm effectively handles trap situations, which occur when the river bends away from the destination. In addition, …
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Design and Implementation of the Kinect Controlled Electro-Mechanical Skeleton (K.C.E.M.S)
… formula hybrid accumulator design and the 2010 autonomous surface vehicle were presented and published.</p>
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Methods for Testing COLREGS Compliance in AutonomousSurface Vehicles
… there is an increasing number of uncrewed and autonomous surface vessels operating at sea. Preventing collisions at sea is of paramount importance to safeguard lives, protect the marine environment, and maintain smooth maritime operations. Effectively preventing collisions at sea between manned …
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Autonomous adaptation and collaboration of unmanned vehicles for tracking submerged contacts
Autonomous operations are vital to future naval operations. Unmanned systems, including autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs), are anticipated to play a key role for critical tasks such as mine countermeasures (MCM) and anti-submarine warfare (ASW). Addressing …
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Underwater vehicle localization using range measurements
… the problem of cooperative navigation of autonomous marine vehicles using range-only acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic …
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Fast Path Planning in Uncertain Environments: Theory and Experiments
This dissertation addresses path planning for an autonomous vehicle navigating in a two dimensional environment for which an a priori map is inaccurate and for which the environment is sensed in real-time. For this class of application, planning decisions must be made in real-time. This work is …
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Optical proximity sensor and orientation control of autonomous, underwater robot
Autonomous mobile robots need a reliable means of navigation to reach their target while avoiding collisions. This requires continuous knowledge of the vehicle's position, orientation, and motion as well as a way to identify their surroundings. Exploratory robots and those traveling in complex …
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Optical coordination of surface and subsurface autonomous vehicles
Much work has been done in the development of autonomous systems for use at sea. They provide a useful way of carrying out a variety of tasks, from exploration to data collection. The vast expanse of the ocean has naturally led to interest in networks of independent, autonomous vehicles that can …
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Intent-aware collision avoidance for autonomous marine vehicles
Applications of autonomous marine vehicles in dynamic and uncertain environments continuously grow as research unveils new enabling technology and academic, commercial, and government entities pursue new marine autonomy concepts. The safe operation of these vehicles in the marine domain, which is …
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Mapping of complex marine environments using an unmanned surface craft
… marinas, which can pose formidable challenges to autonomous underwater vehicle (AUV) operations. In this thesis, we propose a new approach for mapping shallow water marine environments, combining data from both above and below the water in a robust probabilistic state estimation framework. The …
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Dynamic Task Allocation in Partially Defined Environments Using A* with Bounded Costs
… domain can be particularly difficult for autonomous vehicles to operate in due to the partially defined nature of the environment, it is crucial that a method exists which is capable of dynamically accomplishing tasks within this operational domain. By considering the task allocation …