Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
144 tokens/sec
GPT-4o
7 tokens/sec
Gemini 2.5 Pro Pro
45 tokens/sec
o3 Pro
4 tokens/sec
GPT-4.1 Pro
38 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

Field Testing of a Stochastic Planner for ASV Navigation Using Satellite Images (2309.14657v2)

Published 26 Sep 2023 in cs.RO

Abstract: We introduce a multi-sensor navigation system for autonomous surface vessels (ASV) intended for water-quality monitoring in freshwater lakes. Our mission planner uses satellite imagery as a prior map, formulating offline a mission-level policy for global navigation of the ASV and enabling autonomous online execution via local perception and local planning modules. A significant challenge is posed by the inconsistencies in traversability estimation between satellite images and real lakes, due to environmental effects such as wind, aquatic vegetation, shallow waters, and fluctuating water levels. Hence, we specifically modelled these traversability uncertainties as stochastic edges in a graph and optimized for a mission-level policy that minimizes the expected total travel distance. To execute the policy, we propose a modern local planner architecture that processes sensor inputs and plans paths to execute the high-level policy under uncertain traversability conditions. Our system was tested on three km-scale missions on a Northern Ontario lake, demonstrating that our GPS-, vision-, and sonar-enabled ASV system can effectively execute the mission-level policy and disambiguate the traversability of stochastic edges. Finally, we provide insights gained from practical field experience and offer several future directions to enhance the overall reliability of ASV navigation systems.

Definition Search Book Streamline Icon: https://streamlinehq.com
References (70)
  1. “The Complexity of the Travelling Repairman Problem” In RAIRO-Theoretical Informatics and Applications-Informatique Théorique et Applications 20.1, 1986, pp. 79–87
  2. Vural Aksakalli, O Furkan Sahin and Ibrahim Ari “An AO* Based Exact Algorithm for the Canadian Traveler Problem” In INFORMS Journal on Computing 28.1 INFORMS, 2016, pp. 96–111
  3. “An Autonomous Sailboat for Environment Monitoring” In 2022 Thirteenth International Conference on Ubiquitous and Future Networks (ICUFN), 2022, pp. 242–246
  4. “Information-Driven Path Planning” In Current Robotics Reports 2.2 Springer, 2021, pp. 177–188
  5. Richard Bellman “A Markovian Decision Process” In Journal of Mathematics and Mechanics JSTOR, 1957, pp. 679–684
  6. “The MaSTr1325 Dataset for Training Deep USV Obstacle Detection Models” In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 IEEE
  7. “MODS – A USV-Oriented Object Detection and Obstacle Segmentation Benchmark”, 2021 arXiv:2105.02359 [cs.CV]
  8. “Intelligent Wide-Area Water Quality Monitoring and Analysis System Exploiting Unmanned Surface Vehicles and Ensemble Learning” In Water 12.3 Multidisciplinary Digital Publishing Institute, 2020, pp. 681
  9. C L Chang and J R Slagle “An Admissible and Optimal Algorithm for Searching AND/OR Graphs” In Artif. Intell. 2.2, 1971, pp. 117–128
  10. “Autonomous Water Quality Monitoring and Water Surface Cleaning for Unmanned Surface Vehicle” In Sensors 21.4, 2021
  11. “RSPrompter: Learning to Prompt for Remote Sensing Instance Segmentation based on Visual Foundation Model”, 2023 arXiv:2306.16269 [cs.CV]
  12. “Are We Ready for Unmanned Surface Vehicles in Inland Waterways? The USVInland Multisensor Dataset and Benchmark” In IEEE Robotics and Automation Letters 6.2, 2021, pp. 3964–3970
  13. Nicos Christofides “Worst-Case Analysis of a New Heuristic for the Travelling Salesman Problem” In Operations Research Forum 3, 1976
  14. “Evaluation of Water Quality Data Collected using a Novel Autonomous Surface Vessel” In OCEANS 2021: San Diego – Porto, 2021, pp. 1–10
  15. “Sentinel-2: ESA’s Optical High-Resolution Mission for GMES Operational Services” The Sentinel Missions - New Opportunities for Science In Remote Sensing of Environment 120, 2012, pp. 25–36 DOI: https://doi.org/10.1016/j.rse.2011.11.026
  16. “Robots for Environmental Monitoring: Significant Advancements and Applications” In IEEE Robot. Autom. Mag. 19.1, 2012, pp. 24–39
  17. Alberto Elfes “Using Occupancy Grids for Mobile Robot Perception and Navigation” In Computer 22.6 IEEE, 1989, pp. 46–57
  18. “A Density-Based Algorithm for Discovering Clusters in Large Spatial Databases with Noise” In Proceedings of the Second International Conference on Knowledge Discovery and Data Mining, KDD’96 Portland, Oregon: AAAI Press, 1996, pp. 226–231
  19. “Field D*: An Interpolation-Based Path Planner and Replanner” In Robotics Research: Results of the 12th International Symposium ISRR, 2007, pp. 239–253 Springer
  20. Dave Ferguson, Anthony Stentz and Sebastian Thrun “Planning with Pinch Points”, 2004
  21. “The HydroNet ASV, a Small-Sized Autonomous Catamaran for Real-Time Monitoring of Water Quality: From Design to Missions at Sea” In IEEE J. Oceanic Eng. 40.3, 2015, pp. 710–726
  22. “Automated Water Extraction Index: A New Technique for Surface Water Mapping Using Landsat Imagery” In Remote Sens. Environ. 140, 2014, pp. 23–35
  23. Martin A. Fischler and Robert C. Bolles “Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography” In Commun. ACM 24.6 New York, NY, USA: Association for Computing Machinery, 1981, pp. 381–395 DOI: 10.1145/358669.358692
  24. Paul Furgale and Timothy D. Barfoot “Visual Teach and Repeat for Long-Range Rover Autonomy” In Journal of Field Robotics 27.5, 2010, pp. 534–560 DOI: https://doi.org/10.1002/rob.20342
  25. Jonathan D. Gammell, Siddhartha S. Srinivasa and Timothy D. Barfoot “Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs” In 2015 IEEE International Conference on Robotics and Automation (ICRA) IEEE, 2015 DOI: 10.1109/icra.2015.7139620
  26. Hengwei Guo and Timothy D Barfoot “The Robust Canadian Traveler Problem Applied to Robot Routing” In 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 5523–5529
  27. Peter E Hart, Nils J Nilsson and Bertram Raphael “A Formal Basis for the Heuristic Determination of Minimum Cost Paths” In IEEE transactions on Systems Science and Cybernetics 4.2 IEEE, 1968, pp. 100–107
  28. Hordur K Heidarsson and Gaurav S Sukhatme “Obstacle Detection and Avoidance for an Autonomous Surface Vehicle using a Profiling Sonar” In 2011 IEEE International Conference on Robotics and Automation, 2011, pp. 731–736
  29. Hordur K Heidarsson and Gaurav S Sukhatme “Obstacle Detection from Overhead Imagery using Self-Supervised Learning for Autonomous Surface Vehicles” In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 3160–3165
  30. “Detecting, Extracting, and Monitoring Surface Water From Space Using Optical Sensors: A Review” In Rev. Geophys. 56.2 American Geophysical Union (AGU), 2018, pp. 333–360
  31. “Stochastic Planning for ASV Navigation Using Satellite Images” In 2023 IEEE International Conference on Robotics and Automation (ICRA) IEEE, 2023 DOI: 10.1109/icra48891.2023.10160894
  32. “Path Planning and Tracking for Vehicle Collision Avoidance Based on Model Predictive Control with Multiconstraints” In IEEE Transactions on Vehicular Technology 66.2 IEEE, 2016, pp. 952–964
  33. “Sampling-Based Algorithms for Optimal Motion Planning” In The international journal of robotics research 30.7 Sage Publications Sage UK: London, England, 2011, pp. 846–894
  34. Imen Karoui, Isabelle Quidu and Michel Legris “Automatic Sea-Surface Obstacle Detection and Tracking in Forward-Looking Sonar Image Sequences” In IEEE Trans. Geosci. Remote Sens. 53.8 ieeexplore.ieee.org, 2015, pp. 4661–4669
  35. “Segment Anything” In arXiv:2304.02643, 2023
  36. “D* Lite” In Eighteenth national conference on Artificial intelligence, 2002, pp. 476–483
  37. Gilbert Laporte “The Traveling Salesman Problem: An Overview of Exact and Approximate Algorithms” In European Journal of Operational Research 59, 1992, pp. 231–247
  38. “Image-Based Ship Detection and Classification for Unmanned Surface Vehicle using Real-Time Object Detection Neural Networks” In The 28th International Ocean and Polar Engineering Conference, 2018
  39. “An Automated Scheme for Glacial Lake Dynamics Mapping using Landsat Imagery and Digital Elevation Models: a Case Study in the Himalayas” In Int. J. Remote Sens. 33.16 Taylor & Francis, 2012, pp. 5194–5213
  40. “The Covering Canadian Traveller Problem” In Theoretical Computer Science 530, 2014, pp. 80–88 DOI: https://doi.org/10.1016/j.tcs.2014.02.026
  41. “Follow Anything: Open-set detection, tracking, and following in real-time” In arXiv preprint arXiv:2308.05737, 2023
  42. “A Low-Cost Unmanned Surface Vehicle for Pervasive Water Quality Monitoring” In IEEE Trans. Instrum. Meas. 69.4, 2020, pp. 1433–1444
  43. “Uninterrupted Path Planning System for Multi-USV Sampling Mission in a Cluttered Ocean Environment” In Ocean Eng. 254, 2022, pp. 111328
  44. “Optimizing Decision Trees Through Heuristically Guided Search” In Commun. ACM 21, 1978, pp. 1025–1039
  45. Stuart K. McFeeters “The Use of the Normalized Difference Water Index (NDWI) in the Delineation of Open Water Features” In International Journal of Remote Sensing 17, 1996, pp. 1425–1432
  46. Natural Resources Canada “Lakes, Rivers and Glaciers in Canada - CanVec Series - Hydrographic Features”, 2019
  47. Charles E Noon and James C Bean “An Efficient Transformation of the Generalized Traveling Salesman Problem” In INFOR Inf. Syst. Oper. Res. 31.1 Taylor & Francis, 1993, pp. 39–44
  48. “SWAMP, an Autonomous Surface Vehicle Expressly Designed for Extremely Shallow Waters” In Ocean Eng. 216, 2020, pp. 108205
  49. Christos H Papadimitriou and Mihalis Yannakakis “Shortest Paths Without a Map” In Theoretical Computer Science 84.1 Elsevier, 1991, pp. 127–150
  50. “High-Resolution Mapping of Global Surface Water and its Long-Term Changes” In Nature 540.7633, 2016, pp. 418–422
  51. “OR-Tools”, 2023 Google URL: https://developers.google.com/optimization/
  52. G H Polychronopoulos “Stochastic Shortest Path Problems with Recourse” In Networks
  53. “Automated Full Scene Parsing for Marine ASVs using Monocular Vision” In J. Intell. Rob. Syst. 104.2 Springer ScienceBusiness Media LLC, 2022
  54. “ROS: an Open-Source Robot Operating System” In ICRA workshop on open source software 3.3.2, 2009, pp. 5 Kobe, Japan
  55. Jose Ricardo Sanchez-Ibanez, Carlos J Perez-del-Pulgar and Alfonso García-Cerezo “Path Planning for Autonomous Mobile Robots: A Review” In Sensors 21.23 MDPI, 2021, pp. 7898
  56. Matteo Schiaretti, Linying Chen and Rudy R Negenborn “Survey on Autonomous Surface Vessels: Part I - A New Detailed Definition of Autonomy Levels” In Computational Logistics Springer International Publishing, 2017, pp. 219–233
  57. Jordy Sehn, Jack Collier and Timothy D. Barfoot “Off the Beaten Track: Laterally Weighted Motion Planning for Local Obstacle Avoidance”, 2023 arXiv:2309.09334 [cs.RO]
  58. “A Reinforcement Learning-Based Adaptive Path Tracking Approach for Autonomous Driving” In IEEE Transactions on Vehicular Technology 69, 2020, pp. 10581–10595
  59. “Waterline and Obstacle Detection in Images from Low-Cost Autonomous Boats for Environmental Monitoring” In Rob. Auton. Syst. 124, 2020, pp. 103346
  60. “Deep Learning Waterline Detection for Low-Cost Autonomous Boats” In Intelligent Autonomous Systems 15 Springer International Publishing, 2019, pp. 613–625
  61. “Practical Design and Implementation of an Autonomous Surface Vessel Prototype: Navigation and Control” In International Journal of Advanced Robotic Systems 17.3 SAGE Publications Sage UK: London, England, 2020, pp. 1729881420919949
  62. Matija Teršek, Lojze Žust and Matej Kristan “eWaSR – an embedded-compute-ready maritime obstacle detection network”, 2023 arXiv:2304.11249 [cs.CV]
  63. “The Vehicle Routing Problem” Society for IndustrialApplied Mathematics, 2002 DOI: 10.1137/1.9780898718515
  64. “Design, Development and Testing of the Modular Unmanned Surface Vehicle Platform for Marine Waste Detection” In Journal of Multimedia Information System 4.4 Korea Multimedia Society, 2017, pp. 195–204 URL: https://doi.org/10.9717/JMIS.2017.4.4.195
  65. Hanqiu Xu “Modification of Normalised Difference Water Index (NDWI) to Enhance Open Water Features in Remotely Sensed Imagery” In Int. J. Remote Sens. 27.14 Taylor & Francis, 2006, pp. 3025–3033
  66. “Surface Vehicle Detection and Tracking with Deep Learning and Appearance Feature” In 2019 5th International Conference on Control, Automation and Robotics (ICCAR), 2019, pp. 276–280
  67. “Mapping of Urban Surface Water Bodies from Sentinel-2 MSI Imagery at 10 m Resolution via NDWI-Based Image Sharpening” In Remote Sensing 9.6 Multidisciplinary Digital Publishing Institute, 2017, pp. 596
  68. “Improved PSPNet-based Water Shoreline Detection in Complex Inland River Scenarios” In Complex & Intelligent Systems, 2022
  69. “CutMix: Regularization Strategy to Train Strong Classifiers with Localizable Features”, 2019 arXiv:1905.04899 [cs.CV]
  70. “Collision-Free Waterway Segmentation for Inland Unmanned Surface Vehicles” In IEEE Trans. Instrum. Meas. 71, 2022, pp. 1–16

Summary

We haven't generated a summary for this paper yet.

Ai Sparkles Streamline Icon: https://streamlinehq.com Summarize Now
Youtube Logo Streamline Icon: https://streamlinehq.com

YouTube