• Corpus ID: 6190573

Visual Servoing of Unmanned Surface Vehicle from Small Tethered Unmanned Aerial Vehicle

  title={Visual Servoing of Unmanned Surface Vehicle from Small Tethered Unmanned Aerial Vehicle},
  author={Haresh Karnan and Aritra Biswas and Pranav Vaidik Dhulipala and Janet S. Dufek and Robin R. Murphy},
This paper presents an algorithm and the implementation of a motor schema to aid the visual localization subsystem of the ongoing EMILY project at Texas A and M University. The EMILY project aims to team an Unmanned Surface Vehicle (USV) with an Unmanned Aerial Vehicle (UAV) to augment the search and rescue of marine casualties during an emergency response phase. The USV is designed to serve as a flotation device once it reaches the victims. A live video feed from the UAV is provided to the… 

Visual Pose Estimation of Rescue Unmanned Surface Vehicle From Unmanned Aerial System

Three problems were identified: the orientation estimation error was quite large for both algorithms, both algorithms required manual tuning before each trial, and both algorithms were not robust enough to recover from significant changes in illumination conditions.

Theoretical Limitations of Visual Navigation of Lifesaving VSV using Small UAS

  • J. DufekR. Murphy
  • Engineering
    2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
  • 2018
A theoretical analysis of the problem of visual navigation of an unmanned surface vehicle (USV) using visual feedback from a small unmanned aerial system (sUAS) in drowning victim recovery scenario and lower bound limits on how well the subproblem can be solved are determined.

Best Viewpoints for External Robots or Sensors Assisting Other Robots

A psychomotor approach is applied to develop a model of the relative quality of external viewpoints using Gibsonian affordances to enable autonomous selection of the best possible viewpoint and path planning for the assistant robot.



Visual pose estimation of USV from UAV to assist drowning victims recovery

  • J. DufekR. Murphy
  • Computer Science
    2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
  • 2016
This paper presents the visual localization subsystem of the ongoing EMILY project. This project aims to assist responders with establishing contact with drowning victims as quickly as possible

UAV assisted USV visual navigation for marine mass casualty incident response

The use of a UAV is proposed to compensate for the lack of elevation of the responders and to automate search and rescue operations and automates the rescue process so that the responders can focus on task-level needs instead of tediously driving the USV to the victims.

Cooperative Damage Inspection with Unmanned Surface Vehicle and Micro Unmanned Aerial Vehicle at Hurricane Wilma

This work validates the concept of using USVs and UAVs together for disaster response, suggests missions, and priorities for autonomy, and Besides damage inspection, USV-UAV teams can find safe lanes of sea travel and to detect hazardous materials spills.

Cooperative use of unmanned sea surface and micro aerial vehicles at Hurricane Wilma

On Oct. 24, 2005, Hurricane Wilma, a category 5 storm, made landfall at Cape Romano, Florida. Three days later, the Center for Robot‐Assisted Search and Rescue at the University of South Florida

Unmanned marine vehicle use at Hurricanes Wilma and Ike

The Center for Robot-Assisted Search and Rescue has fielded two AEOS man-portable unmanned surface, a YSI Ecomapper and VideoRay underwater marine vehicle in the aftermath of Hurricanes Wilma (2005,

Marine heterogeneous multirobot systems at the great Eastern Japan Tsunami recovery

The field work showed that the actual and planned multirobot system configurations did not fall neatly into traditional taxonomies, identified a new measure, namely perceptual confidence, and posed five open research questions for multiro Bot systems operating in littoral regions.

Use of remotely operated marine vehicles at Minamisanriku and Rikuzentakata Japan for disaster recovery

  • R. MurphyK. Dreger K. Kon
  • Computer Science
    2011 IEEE International Symposium on Safety, Security, and Rescue Robotics
  • 2011
Three underwater remotely operated vehicles were used over a five day period to inspect critical infrastructure and to assist with victim search and recovery at six sites in the Iwate Prefecture following the Tohoku Earthquake and Tsunami, illustrating that rescue robots are valuable for both economic and victim recovery.

A novel pan-tilt camera control approach for visual tracking

  • Hongkai ChenXiaoguang ZhaoM. Tan
  • Engineering, Computer Science
    Proceeding of the 11th World Congress on Intelligent Control and Automation
  • 2014
A novel pan-tilt control approach for visual tracking that uses the target image feature to control the pan-Tilt device following the target with random movement is proposed.

Real-time video tracking using PTZ cameras

An adaptive background generation and the corresponding moving region detection techniques for a Pan-Tilt-Zoom camera is presented using a geometric transform-based mosaicing method and it is shown that the proposed system can be used to monitor moving targets in widely open areas by automatic panning and tilting in real-time.