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This paper presents an initial development stage of Fly Optimization Algorithm which will be used for the path planning system of a swarm of autonomous surface vehicles. This algorithm was initially designed to be implemented for a swarm of robots which would be able to locate the deepest portion of lakes. The ability of the robots to reach the designated(More)
This paper proposes a method for recognition and classification of 3D objects using 2D moments and HMLP network. The 2D moments are calculated based on 2D intensity images taken from multiple cameras that have been arranged using multiple views technique. 2D moments are commonly used for 2D pattern recognition. However, the current study proves that with(More)
This paper presents the initial developmental stage of mini Autonomous Surface Vehicles (ASVs), which is to define the algorithm of boundary navigation for each of the ASV via programming and sensor networks. To implement this, region recognition and several path planning algorithms have been utilized. Besides that, pixilation of path is also used to(More)
This paper proposes an effective method for recognition and classification of 3D objects using multiple views technique and neural networks system. In the processing stage, we propose to use 2D moment invariants as the features for modeling 3D objects. 2D moments have been commonly used for 2D object recognition. However, we have proved that with some(More)
The aim of this research effort is to build a robust image-based virtual input for robotic platform control. Compared to the motion of the head, eye gaze, face or even the whole body, tracking of hand movement has become increasingly popular, efficient and more natural in human computer interaction. However available systems are invasive and require the(More)
This paper is concerned with the virtual simulation of Autonomous Surface Vessels (ASVs) named, Drosobots, using virtual simulation software i.e. Webots™, and the pre-deployment in a swimming pool environment based on an improved simplest navigation technique. Swimming pool provides as a controlled calibration framework for the proposed swarming algorithm.(More)
Autonomous surface vehicle (ASV) is developed to fulfill requirement of many offshore applications. One of the examples is tracking an underwater target of interests. Tracking underwater target involves two general steps, target position estimation and target following. In this paper, a control strategy for ASV performing underwater acoustic source tracking(More)
An autonomous underwater vehicle (AUV) cannot operate for an extended amount of time due to limited energy supplied by battery embedded in its system. To prolong the AUV operation a docking station could be used so that the AUV can dock inside the station to recharge its battery. Several researches had been conducted for the docking of AUV using vision.(More)
In this paper, the development of an underwater robotic vehicle is described. The description includes the mechanical and controller design, and the sensor integration. The vehicle has been designed to have a dimension 1.0 m long, 0.7 m wide and with a mass of 30 kg. The USM-AUV I was designed mainly for testing conventional and advanced control algorithms.(More)
A hovering autonomous underwater vehicle usually has at least four thrusters which gives it the ability to propel in all directions. By decreasing the number of thruster, the AUV will have more room to accommodate for other devices. However, the AUV would become an under actuated system. From literature, there are various works had been studied to control(More)