126 Results Found

The performance of bathymetric measurements by traditional methods (using manned vessels) in ultra-shallow waters, i.e., lakes, rivers, and sea beaches with a depth of less than 1 m, is often difficult or, in many cases, impossible due to problems re...

This study provides an overview of the literature on multi-unmanned surface vessel (multi-USV) systems, addressing the increasing attention on formation control of USVs due to their enhanced task execution ability, efficiency, and robustness in compl...

The accurate nonlinear modeling of an unmanned surface vessel (USV) is essential for advanced control and operational performance. This paper combines the locally weighted regression (LWR) algorithm and the extended Kalman filter (EKF) for parameter...

Confronted with unmanned surface vessel (USV) operations where GNSS signals are unavailable due to obscuration and other factors, a LiDAR SLAM-assisted fusion positioning method for USVs is proposed to combine GNSS/INS positioning with LiDAR-SLAM. Wh...

In this paper, we take a water quality testing Unmanned Surface Vessel (USV) as the research object. We propose a heading keeping strategy based on Human Simulated Intelligent Control (HSIC) algorithm and a trajectory tracking strategy under line-of-...

One of the main glacier-related natural hazards that are common to alpine locations is the occurrence of glacial lake outburst floods (GLOFs), which can seriously harm downstream towns and infrastructure. GLOFs have increased in frequency in the cent...

With the significant role that Unmanned Surface Vessels (USVs) could play in industry, the military and the transformation of ocean engineering, a growing research interest in USVs is attracted to their innovation, new technology and automation. Yet,...

In this paper, a robust neural adaptive controller is proposed for the trajectory tracking control problem of unmanned surface vessels (USVs), considering model uncertainty, time-varying environmental disturbance, and actuator saturation. First, meas...

With the increasing deployment of unmanned surface vessels (USVs) in complex marine operations such as ocean monitoring, search and rescue, and military reconnaissance, precise heading control under environmental disturbances and system delays has be...

Unmanned Surface Vessels (USVs) have witnessed an increasing growth in demand for development due to their compactness, mobility and maneuverability, which make them well-suited for environmental monitoring on narrow water in Vietnam in particular an...

The hardware and software capabilities of the compact-profiling hybrid instrumentation for radiometry and ecology (C-PHIRE) instruments on an unmanned surface vessel (USV) are evaluated. Both the radiometers and USV are commercial-off-the-shelf (COTS...

Baselines are used to establish the maritime boundaries of a coastal state which include the territorial sea, contiguous zone, exclusive economic zone and continental shelf; thus, they are instrumental in implementing state maritime policy. For Polan...

The identification and classification of obstacles in navigable and non-navigable regions, as well as the measurement of distances, are crucial topics of investigation in the field of autonomous navigation for unmanned surface vehicles (USVs). Curren...

In the Internet of Vessels (IoV), it is difficult for any unmanned surface vessel (USV) to work as a coordinator to establish full communication connections (FCCs) among USVs due to the lack of communication connections and the complex natural enviro...

Focusing on the collision avoidance problem for Unmanned Surface Vehicles (USVs) in the scenario of multi-vessel encounters, a USV autonomous obstacle avoidance algorithm based on the improved velocity obstacle method is proposed. The algorithm is co...

Recently, unmanned surface vehicles (USV) are being actively developed. For USVs to be put to practical use, it is necessary to secure safety by preventing collisions with general ships. To this end, USVs must avoid opposing vessels based on internat...

Research on unmanned surface vessels (USVs) has evolved significantly in recent decades. In particular, intelligent navigation technology has progressed from theoretical concepts to practical applications. As USV research in ocean engineering advance...

In this paper, we propose three cooperative operational modes of manned and unmanned submersibles for a range of different deep-sea application scenarios. For large-scale exploration, a lander or an unmanned surface vehicle (USV) is paired with one o...

Disaster robotics has become a research area in its own right, with several reported cases of successful robot deployment in actual disaster scenarios. Most of these disaster deployments use aerial, ground, or underwater robotic platforms. However, t...

Unmanned Surface Vehicles (USV) are increasingly used to perform numerous tasks connected with measurements in inland waters and seas. One of such target applications is hydrography, where traditional (manned) bathymetric measurements are increasingl...

With active research being conducted on maritime autonomous surface ships, it is becoming increasingly necessary to ensure the safety of unmanned surface vehicles (USVs). In this context, a key task is to correct their paths to avoid obstacles. This...

With the development of artificial intelligence neural networks, semantic segmentation has received more and more attention in the field of ocean engineering, especially in the fields of unmanned vessels and drones. However, challenges such as limite...

Autonomous landing on the deck of an unmanned surface vehicle (USV) is still a major challenge for unmanned aerial vehicles (UAVs). In this paper, a fiducial marker is located on the platform so as to facilitate the task since it is possible to retri...

This paper explores the cooperative control of unmanned surface vessels (USVs) and unmanned aerial vehicles (UAVs) in maritime rescue and coastal surveillance. The USV-UAV system faces challenges of disturbances and substantial inertia-induced oversh...

This paper addresses the challenge of conducting cover searches for unmanned surface vessels operating in unknown waters. To tackle this problem, we propose a cover algorithm that combines job partitioning with a joint network protocol. The algorithm...

This paper investigates the cooperative formation trajectory tracking problem for heterogeneous unmanned aerial vehicle (UAV) and multiple unmanned surface vessel (USV) systems with collision avoidance performance. Firstly, a formation control protoc...

An underactuated unmanned surface vessel (USV) is a nonholonomic system, in which trajectory tracking is a challenging problem that has drawn more and more attention from researchers recently. The control of trajectory tracking is of critical importa...

Effective testing of new sensing technologies requires realistic yet deterministic test ranges. The advancements in customizable, adaptive unmanned surface vessels (USV) have contributed to the increasing presence of USVs completing maritime site cha...

Coastal water accidents have occurred frequently in recent years, and human factors are still the main cause of these accidents. The purpose of this study is to provide a better and safer solution for the symmetry problem of unmanned surface vessels...

The methods of data collection, processing, and assessment of the quality of the results of a survey conducted at the Southern Ionian Sea off the Messinian Peninsula, Greece are presented. Data were collected by the GEBCO-Nippon Foundation Alumni Tea...

Unmanned Surface Vehicles (USVs) have emerged as key enablers of autonomous maritime operations, offering innovative solutions across multiple industries, including defense, oceanography, offshore energy, and logistics. This review examines the curre...

In addressing the high costs, inefficiencies, and limitations of purely digital simulations in maritime trials for unmanned vessel path planning, this paper introduces a ship virtual path planning simulation test system. This system, unbound by tempo...

In order to ensure the safe navigation of USVs (unmanned surface vessels) and real-time collision avoidance, this study conducts global and local path planning for USVs in a variable dynamic environment, while local path planning is proposed under th...

Recently, unmanned aerial vehicle (UAV)-assisted maritime communication systems have drawn considerable attention due to their potential for broadband maritime communication applications. However, their limited energy resources remains a critical iss...

Ship collision avoidance is a complex process that is influenced by numerous factors. In this study, we propose a novel method called the Optimal Collision Avoidance Point (OCAP) for unmanned surface vehicles (USVs) to determine when to take appropri...

Unmanned surface vessels (USVs) are required to follow a path during a task. This is essential for the USV, especially when following a curvilinear path or considering the interference of waves, and this work has been proven to be complicated. In thi...

This article presents a method for the optimal design of actuators for electric vessels that utilize DC motors. Typically, these vessels are small, unmanned craft that can be Unmanned Surface Vessels (USVs) or Unmanned Underwater Vessels (UUVs). The...

Maritime unmanned systems (MUS) have gained widespread usage in a diverse range of hydrographic survey activities, including harbor/port surveys, beach and coastline monitoring, environmental assessment, and military operations. The present article e...

This paper addresses the path tracking problem of underactuated unmanned surface vessels (USVs) in the presence of unknown external disturbances. A fixed-time adaptive integral sliding mode control (AISMC) method, incorporating a nonlinear disturbanc...

This study uses a port-Hamiltonian framework to address trajectory tracking control for unmanned surface vessels (USVs) under unknown disturbances. A passivity-based sliding mode controller is designed, integrating adaptive disturbance estimation and...

Unmanned surface vehicles (USVs) face significant challenges in long-term operations in complex and dynamic marine environments. These include abnormal attitudes, low accuracy in navigation attitude prediction, and difficulties in maintaining operati...

Autonomous ships represent an emerging paradigm within the maritime sector, poised to bring multiple advantages. Although numerous prototypes have been developed, the deployment of large autonomous ships has predominantly remained confined to domesti...

Marine transportation and operations have attracted the attention of more and more countries and scholars in recent years. A full-state finite time feedback control scheme is designed for the model parameters uncertainty, unknown ocean environment di...

This paper investigates the challenging problem of fixed-time formation trajectory tracking control for multiple unmanned surface vessels (USVs) affected by uncertain model dynamics, time-varying external ocean disturbances, as well as input saturati...

To reduce missed detections in LiDAR-based obstacle detection, this paper proposes a dual unmanned surface vessels (USVs) obstacle detection method using the MGNN-DANet template matching framework. Firstly, point cloud templates for each USV are crea...

This article describes the design and construction journey of a self-developed unmanned surface vehicle (USV). In order to increase the accessibility and lower the barrier of entry we propose a low-cost (under EUR 1000) approach to the vessel constru...

The underactuated unmanned surface vessel (USV) has been identified as a promising solution for future maritime transport. However, the challenges of precise trajectory tracking and obstacle avoidance remain unresolved for USVs. To this end, this pap...

Apart from extensive infrastructure protection, modern yacht ports should primarily provide vessels with navigational safety associated with their maneuvering on the approach fairway, as well as mooring in the port aquatory. For this reason, yachts e...

A self-organizing cooperation strategy for multiple unmanned surface vessels (USVs) to pursue intelligent evaders in the case of a dynamic obstacle vessel is proposed. Firstly, a self-organizing cooperative hunting strategy is proposed to form an Apo...

In contrast to classic hydrographic cutters, unmanned surface vehicles, due to their size, ease of transport and the equipment installed, enable the performance of quick and cost-effective bottom inspections in various water areas. Thanks to their sh...