Reliable AI for Marine Robotics

Informations projet

REMARO

N° de convention de subvention: 956200

DOI

10.3030/956200

Projet clôturé

Date de signature de la CE 31 Août 2020

Date de début 1 Decembre 2020

Date de fin 30 Avril 2025

Financé au titre de

• EXCELLENT SCIENCE - Marie Skłodowska-Curie Actions

Coût total

€ 4 076 959,20

Contribution de l’UE

€ 4 076 959,20

Coordonné par

IT-UNIVERSITETET I KOBENHAVN
Denmark

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

Documents, reports (15)

Reliable Marine AI Tools

The deliverable reports the key scientific results by all ESRs involved in WP3 during the first reporting period

Reliable Vision and Navigation Under Water

The deliverable reports the key scientific results by all ESRs involved in WP1 during the first reporting period

Sonar-based 3D reconstruction for dense underwater SLAM maps

ESR3 Sonar-based 3D reconstruction for dense underwater SLAM maps

Vision-based navigation for underwater safety critical applications

ESR2 Vision-based navigation for underwater safety critical applications

Reliable Mission and Planning Under Water

The deliverable reports the key scientific results by all ESRs involved in WP2 during the first reporting period

Probabilistic property-based testing for feature classification in submarine vision

ESR4 Probabilistic property-based testing for feature classification in submarine vision

System-level verification of an autonomous under-water robot

ESR9 System-level verification of an autonomous under-water robot

Continuous quality assurance for cognitive control

ESR15 Continuous quality assurance for cognitive control

Identification of biogeochemical signatures of dynamic features of the ocean

ESR6 Identification of biogeochemical signatures of dynamic features of the ocean

Formal methods for underwater robots as probabilistic hybrid systems

ESR13 Formal methods for underwater robots as probabilistic hybrid systems

Model-based probabilistic testing for system-level safety of underwater visioncontrolled robot

ESR7 Model-based probabilistic testing for system-level safety of underwater visioncontrolled robot

Verification methods for reflective control systems

ESR14 Verification methods for reflective control systems

Meta-control for reliable autonomous operation of underwater robots

ESR8 Meta-control for reliable autonomous operation of underwater robots

Digital Twin Knowledge Base for submarine robot inspection/manipulation

ESR10 Digital Twin Knowledge Base for submarine robot inspection/manipulation

Property-based testing and statistical assessment of plans

ESR12 Property-based testing and statistical assessment of plans

Publications

Conference proceedings (25)

Mission Planning and Safety Assessment for Pipeline Inspection Using Autonomous Underwater Vehicles: A Framework Based on Behavior Trees

Auteurs: Martin Aubard, Sergio Quijano, Olaya Álvarez-Tuñón, László Antal, Maria Costa, Yury Brodskiy
Publié dans: OCEANS 2024 - Singapore, 2024, Page(s) 1-6
Éditeur: IEEE
DOI: 10.1109/oceans51537.2024.10682385

Real-Time Automatic Wall Detection and Localization based on Side Scan Sonar Images

Auteurs: Martin Aubard, Ana Madureira, Luis Madureira, José Pinto
Publié dans: 2022 IEEE OES AUV SYMPOSIUM, Numéro 2022, 2022, ISBN 978-1-6654-1689-4
Éditeur: IEEE
DOI: 10.1109/auv53081.2022.9965813

Belief-based Fault Recovery for Marine Robotics

Auteurs: Coffelt, Kashani, Wąsowski, Kampmann
Publié dans: 2022 Joint Ontology Workshops, Numéro Vol 3249, 2022, Page(s) 1-14, ISSN 1613-0073
Éditeur: CEUR

MIMIR-UW: A Multipurpose Synthetic Dataset for Underwater Navigation and Inspection

Auteurs: Olaya Álvarez-Tuñón, Hemanth Kanner, Luiza Ribeiro Marnet, Huy Xuan Pham, Jonas le Fevre Sejersen, Yury Brodskiy, Erdal Kayacan
Publié dans: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numéro n 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Page(s) 6141-6148, ISBN 978-1-6654-9190-7
Éditeur: IEEE
DOI: 10.1109/iros55552.2023.10341436

SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles

Auteurs: Gustavo Rezende Silva, Juliane Päßler, Jeroen Zwanepol, Elvin Alberts, S. Lizeth Tapia Tarifa, Ilias Gerostathopoulos, Einar Broch Johnsen, Carlos Hernández Corbato
Publié dans: 2023 IEEE/ACM 18th Symposium on Software Engineering for Adaptive and Self-Managing Systems (SEAMS), 2023, Page(s) 181-187
Éditeur: ACM
DOI: 10.1109/seams59076.2023.00031

Towards a Cognitive Architecture for Marine Robots

Auteurs: Jeremy Paul Coffelt, Michael Beetz, Peter Kampmann
Publié dans: OCEANS 2023 - Limerick, 2023, Page(s) 1-8, ISBN 979-8-3503-3226-1
Éditeur: IEEE
DOI: 10.1109/oceanslimerick52467.2023.10244274

Planning With Ontology-Enhanced States Using Problem-Dependent Rewritings

Auteurs: Tobias John, Patrick Koopmann
Publié dans: 2023 PLanning And onTology wOrkshop (PLATO), Numéro Vol 3493, 2023, ISSN 1613-0073
Éditeur: CEUR

Loss it right: Euclidean and Riemannian Metrics in Learning-based Visual Odometry

Auteurs: Olaya Alvarez-Tunon; Yury Brodskiy; Erdal Kayacan
Publié dans: ISR Europe 2023; 56th International Symposium on Robotics, Numéro SR Europe 2023; 56th International Symposium on Robotics, 2023, Page(s) 107-111, ISBN 978-3-8007-6140-1
Éditeur: IEEE

SAVOR: Sonar-Aided Visual Odometry and Reconstruction

Auteurs: Jeremy Coffelt, Peter Kampmann, Bilal Wehbe
Publié dans: IROS 2024, 2024
Éditeur: IEEE

A Deep Learning Framework for Semantic Segmentation of Underwater Environments

Auteurs: A Smith, J Coffelt, K Lingemann
Publié dans: 2022 IEEE OES OCEANS, Numéro 2022, 2022, Page(s) 1-7, ISSN 0197-7385
Éditeur: IEEE
DOI: 10.1109/oceans47191.2022.9977212

Towards Ontology-Mediated Planning with OWL DL Ontologies

Auteurs: Tobias John, Patrick Koopmann
Publié dans: 36th International Workshop on Description Logics (DL 2023), Numéro Vol 3515, 2023, Page(s) 1–14, ISSN 1613-0073
Éditeur: CEUR

Risk-Averse Planning and Plan Assessment for Marine Robots*

Auteurs: Mahya Mohammadi Kashani, Tobias John, Jeremy P. Coffelt, Einar Broch Johnsen, Andrzej Wąsowski
Publié dans: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numéro Electronic ISSN: 2153-0866, 2024, Page(s) 1277-1282
Éditeur: IEEE
DOI: 10.1109/iros58592.2024.10802496

SubPipe: A Submarine Pipeline Inspection Dataset for Segmentation and Visual-inertial Localization

Auteurs: Olaya Álvarez-Tuñón, Luiza Ribeiro Marnet, Martin Aubard, László Antal, Maria Costa, Yury Brodskiy
Publié dans: OCEANS 2024 - Singapore, 2024, Page(s) 1-7
Éditeur: IEEE
DOI: 10.1109/oceans51537.2024.10682150

A Formal Model of Metacontrol in Maude

Auteurs: Juliane Päßler, Esther Aguado, Gustavo Rezende Silva, Carlos Hernández Corbato, Einar Broch Johnsen, Silvia Lizeth Tapia Tarifa
Publié dans: 11th International Symposium On Leveraging Applications of Formal Methods, Verification and Validation - ISoLA 2022: Verification and Validation of Concurrent and Distributed Heterogeneous Systems., 2022
Éditeur: Springer
DOI: 10.1007/978-3-031-19849-6_32

MarineLLM-PDDL: Generation of Planning Domains for Marine Vessels Using Past Incident Response Plans

Auteurs: Mahya Mohammadi Kashani, Stefan Heinrich, Andrzej Wasowski
Publié dans: The 16 edition of the European Robotics Forum 2025, Springer Proceedings in Advanced Robotics, 2025
Éditeur: Springer

Bridging the Sim-to-Real GAP for Underwater Image Segmentation

Auteurs: Luiza Ribeiro Marnet, Stella Grasshof, Yury Brodskiy & Andrzej Wąsowski
Publié dans: OCEANS 2024 Singapore, 2024, ISBN 978-3-031-59057-3
Éditeur: IEEE

Extending Neural Network Verification to a Larger Family of Piece-wise Linear Activation Functions

Auteurs: László Antal, Hana Masara, Erika Ábrahám
Publié dans: 5th International Workshop on Formal Methods for Autonomous Systems (FMAS), Numéro 2023, 2023, Page(s) 30-68
Éditeur: EPTCS

Sonar2Depth: Acoustic-Based 3D Reconstruction Using cGANs

Auteurs: Nael Jaber, Bilal Wehbe, Frank Kirchner
Publié dans: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Page(s) 5828-5835, ISBN 978-1-6654-9190-7
Éditeur: IEEE
DOI: 10.1109/iros55552.2023.10342251

Marine Snow Simulation and Elimination in Video

Auteurs: Jeremy Paul Coffelt, Nicolas Nowald, Peter Kampmann
Publié dans: 2023 IEEE Underwater Technology (UT), Numéro 2023, 2024, Page(s) 1-10, ISBN 979-8-3503-3175-2
Éditeur: IEEE
DOI: 10.1109/ut49729.2023.10103393

Model-Based Testing for System-Level Safety of Autonomous Underwater Robots

Auteurs: Sergio Quijano; Mahsa Varshosaz
Publié dans: 2022 IEEE Conference on Software Testing, Verification and Validation (ICST), Numéro 08-June-2022, 2022, Page(s) 486-488, ISBN 978-1-6654-6680-6
Éditeur: IEEE
DOI: 10.1109/icst53961.2022.00063

Formal Modelling and Analysis of a Self-Adaptive Robotic System

Auteurs: Juliane Päßler, Maurice H. ter Beek, Ferruccio Damiani, Silvia Lizeth Tapia Tarifa, Einar Broch Johnsen
Publié dans: Lecture Notes in Computer Science, Integrated Formal Methods, Numéro vol 14300, 2024, Page(s) 343-363, ISBN 978-3-031-47704-1
Éditeur: Springer Nature Switzerland
DOI: 10.1007/978-3-031-47705-8_18

Segmentation of Multibeam Echosounder Bathymetry and Backscatter

Auteurs: Jeremy Paul Coffelt, Amos Smith, Niklas Conen, Peter Kampmann
Publié dans: OCEANS 2024 - Singapore, 2024, Page(s) 1-6, ISBN 979-8-3503-6207-7
Éditeur: IEEE
DOI: 10.1109/oceans51537.2024.10706267

LSTS Toolchain Framework for Deep Learning Implementation into Autonomous Underwater Vehicle

Auteurs: Martin Aubard, Ana Madureira, Luis Madureira, Renato Campos, Maria Costa, José Pinto, João Sousa
Publié dans: OCEANS 2023 - Limerick, 2023, Page(s) 1-6, ISBN 979-8-3503-3226-1
Éditeur: IEEE
DOI: 10.1109/oceanslimerick52467.2023.10244721

Modeling and Safety Analysis of Autonomous Underwater Vehicles Behaviors

Auteurs: Sergio Quijano, Mahsa Varshosaz, Andrzej Wąsowski
Publié dans: 2024 IEEE International Conference on Software Testing, Verification and Validation Workshops (ICSTW), 2024, Page(s) 63-67
Éditeur: IEEE
DOI: 10.1109/icstw60967.2024.00022

Mutation-Based Integration Testing of Knowledge Graph Applications

Auteurs: Tobias John, Einar Broch Johnsen, Eduard Kamburjan
Publié dans: 2024 IEEE 35th International Symposium on Software Reliability Engineering (ISSRE), Numéro 2024, 2025, Page(s) 475-486, ISBN 979-8-3503-5388-4
Éditeur: IEEE
DOI: 10.1109/issre62328.2024.00052

Peer reviewed articles (4)

3D-DUO: 3D detection of underwater objects in low-resolution multibeam echosounder maps

Auteurs: Nael Jaber, Bilal Wehbe, Frank Kirchner
Publié dans: Ocean Engineering, Numéro 331, 2025, Page(s) 121254, ISSN 0029-8018
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.oceaneng.2025.121254

Linear Time-Varying Parameter Estimation: Maximum A Posteriori Approach via Semidefinite Programming

Auteurs: Sasan Vakili, Mohammad Khosravi, Peyman Mohajerin Esfahani, Manuel Mazo
Publié dans: IEEE Control Systems Letters, Numéro 8, 2024, Page(s) 73-78, ISSN 2475-1456
Éditeur: IEEE
DOI: 10.1109/lcsys.2023.3347198

A Configurable Software Model of a Self-Adaptive Robotic System

Auteurs: Juliane Päßler, Maurice H. ter Beek, Ferruccio Damiani, Einar Broch Johnsen, S. Lizeth Tapia Tarifa
Publié dans: Science of Computer Programming, Numéro 240, 2024, Page(s) 103221, ISSN 0167-6423
Éditeur: Elsevier BV
DOI: 10.1016/j.scico.2024.103221

Monocular Visual Simultaneous Localization and Mapping: (R)Evolution From Geometry to Deep Learning-Based Pipelines

Auteurs: Olaya Álvarez-Tuñón, Yury Brodskiy, Erdal Kayacan
Publié dans: IEEE Transactions on Artificial Intelligence, Numéro 5, 2024, Page(s) 1990-2010, ISSN 2691-4581
Éditeur: IEEE
DOI: 10.1109/tai.2023.3321032

Book chapters (4)

Uncertainty Driven Active Learning for Image Segmentation in Underwater Inspection

Auteurs: Luiza Ribeiro Marnet, Yury Brodskiy, Stella Grasshof, Andrzej Wąsowski
Publié dans: Communications in Computer and Information Science, Robotics, Computer Vision and Intelligent Systems, 2024, Page(s) 66-81
Éditeur: Springer Nature Switzerland
DOI: 10.1007/978-3-031-59057-3_5

A Collision Avoidance Method for Autonomous Underwater Vehicles Based on Long Short-Term Memories

Auteurs: László Antal, Martin Aubard, Erika Ábrahám, Ana Madureira, Luís Madureira, Maria Costa, José Pinto, Renato Campos
Publié dans: Lecture Notes in Networks and Systems, Innovations in Bio-Inspired Computing and Applications, 2023, Page(s) 448-457, ISBN 978-3-031-27498-5
Éditeur: Springer Nature Switzerland
DOI: 10.1007/978-3-031-27499-2_42

Planning with OWL-DL Ontologies

Auteurs: Tobias John, Patrick Koopmann
Publié dans: Frontiers in Artificial Intelligence and Applications, ECAI 2024, Numéro 2024, 2024, Page(s) 4165 – 4172, ISBN 978-1-64368-548-9
Éditeur: IOS Press
DOI: 10.3233/faia240988

Template Decision Diagrams for Meta Control and Explainability

Auteurs: Clemens Dubslaff, Verena Klös, Juliane Päßler
Publié dans: Communications in Computer and Information Science, Explainable Artificial Intelligence, 2024, Page(s) 219-242
Éditeur: Springer Nature Switzerland
DOI: 10.1007/978-3-031-63797-1_12