Reliable AI for Marine Robotics

Informazioni relative al progetto

REMARO

ID dell’accordo di sovvenzione: 956200

DOI

10.3030/956200

Progetto chiuso

Data della firma CE 31 Agosto 2020

Data di avvio 1 Dicembre 2020

Data di completamento 30 Aprile 2025

Finanziato da

• EXCELLENT SCIENCE - Marie Skłodowska-Curie Actions

Costo totale

€ 4 076 959,20

Contributo UE

€ 4 076 959,20

Coordinato da

IT-UNIVERSITETET I KOBENHAVN
Denmark

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

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

Pubblicazioni

Conference proceedings (25)

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

Autori: Martin Aubard, Sergio Quijano, Olaya Álvarez-Tuñón, László Antal, Maria Costa, Yury Brodskiy
Pubblicato in: OCEANS 2024 - Singapore, 2024, Pagina/e 1-6
Editore: IEEE
DOI: 10.1109/oceans51537.2024.10682385

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

Autori: Martin Aubard, Ana Madureira, Luis Madureira, José Pinto
Pubblicato in: 2022 IEEE OES AUV SYMPOSIUM, Numero 2022, 2022, ISBN 978-1-6654-1689-4
Editore: IEEE
DOI: 10.1109/auv53081.2022.9965813

Belief-based Fault Recovery for Marine Robotics

Autori: Coffelt, Kashani, Wąsowski, Kampmann
Pubblicato in: 2022 Joint Ontology Workshops, Numero Vol 3249, 2022, Pagina/e 1-14, ISSN 1613-0073
Editore: CEUR

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

Autori: Olaya Álvarez-Tuñón, Hemanth Kanner, Luiza Ribeiro Marnet, Huy Xuan Pham, Jonas le Fevre Sejersen, Yury Brodskiy, Erdal Kayacan
Pubblicato in: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero n 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Pagina/e 6141-6148, ISBN 978-1-6654-9190-7
Editore: IEEE
DOI: 10.1109/iros55552.2023.10341436

SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles

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

Towards a Cognitive Architecture for Marine Robots

Autori: Jeremy Paul Coffelt, Michael Beetz, Peter Kampmann
Pubblicato in: OCEANS 2023 - Limerick, 2023, Pagina/e 1-8, ISBN 979-8-3503-3226-1
Editore: IEEE
DOI: 10.1109/oceanslimerick52467.2023.10244274

Planning With Ontology-Enhanced States Using Problem-Dependent Rewritings

Autori: Tobias John, Patrick Koopmann
Pubblicato in: 2023 PLanning And onTology wOrkshop (PLATO), Numero Vol 3493, 2023, ISSN 1613-0073
Editore: CEUR

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

Autori: Olaya Alvarez-Tunon; Yury Brodskiy; Erdal Kayacan
Pubblicato in: ISR Europe 2023; 56th International Symposium on Robotics, Numero SR Europe 2023; 56th International Symposium on Robotics, 2023, Pagina/e 107-111, ISBN 978-3-8007-6140-1
Editore: IEEE

SAVOR: Sonar-Aided Visual Odometry and Reconstruction

Autori: Jeremy Coffelt, Peter Kampmann, Bilal Wehbe
Pubblicato in: IROS 2024, 2024
Editore: IEEE

A Deep Learning Framework for Semantic Segmentation of Underwater Environments

Autori: A Smith, J Coffelt, K Lingemann
Pubblicato in: 2022 IEEE OES OCEANS, Numero 2022, 2022, Pagina/e 1-7, ISSN 0197-7385
Editore: IEEE
DOI: 10.1109/oceans47191.2022.9977212

Towards Ontology-Mediated Planning with OWL DL Ontologies

Autori: Tobias John, Patrick Koopmann
Pubblicato in: 36th International Workshop on Description Logics (DL 2023), Numero Vol 3515, 2023, Pagina/e 1–14, ISSN 1613-0073
Editore: CEUR

Risk-Averse Planning and Plan Assessment for Marine Robots*

Autori: Mahya Mohammadi Kashani, Tobias John, Jeremy P. Coffelt, Einar Broch Johnsen, Andrzej Wąsowski
Pubblicato in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero Electronic ISSN: 2153-0866, 2024, Pagina/e 1277-1282
Editore: IEEE
DOI: 10.1109/iros58592.2024.10802496

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

Autori: Olaya Álvarez-Tuñón, Luiza Ribeiro Marnet, Martin Aubard, László Antal, Maria Costa, Yury Brodskiy
Pubblicato in: OCEANS 2024 - Singapore, 2024, Pagina/e 1-7
Editore: IEEE
DOI: 10.1109/oceans51537.2024.10682150

A Formal Model of Metacontrol in Maude

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

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

Autori: Mahya Mohammadi Kashani, Stefan Heinrich, Andrzej Wasowski
Pubblicato in: The 16 edition of the European Robotics Forum 2025, Springer Proceedings in Advanced Robotics, 2025
Editore: Springer

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

Autori: Luiza Ribeiro Marnet, Stella Grasshof, Yury Brodskiy & Andrzej Wąsowski
Pubblicato in: OCEANS 2024 Singapore, 2024, ISBN 978-3-031-59057-3
Editore: IEEE

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

Autori: László Antal, Hana Masara, Erika Ábrahám
Pubblicato in: 5th International Workshop on Formal Methods for Autonomous Systems (FMAS), Numero 2023, 2023, Pagina/e 30-68
Editore: EPTCS

Sonar2Depth: Acoustic-Based 3D Reconstruction Using cGANs

Autori: Nael Jaber, Bilal Wehbe, Frank Kirchner
Pubblicato in: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Pagina/e 5828-5835, ISBN 978-1-6654-9190-7
Editore: IEEE
DOI: 10.1109/iros55552.2023.10342251

Marine Snow Simulation and Elimination in Video

Autori: Jeremy Paul Coffelt, Nicolas Nowald, Peter Kampmann
Pubblicato in: 2023 IEEE Underwater Technology (UT), Numero 2023, 2024, Pagina/e 1-10, ISBN 979-8-3503-3175-2
Editore: IEEE
DOI: 10.1109/ut49729.2023.10103393

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

Autori: Sergio Quijano; Mahsa Varshosaz
Pubblicato in: 2022 IEEE Conference on Software Testing, Verification and Validation (ICST), Numero 08-June-2022, 2022, Pagina/e 486-488, ISBN 978-1-6654-6680-6
Editore: IEEE
DOI: 10.1109/icst53961.2022.00063

Formal Modelling and Analysis of a Self-Adaptive Robotic System

Autori: Juliane Päßler, Maurice H. ter Beek, Ferruccio Damiani, Silvia Lizeth Tapia Tarifa, Einar Broch Johnsen
Pubblicato in: Lecture Notes in Computer Science, Integrated Formal Methods, Numero vol 14300, 2024, Pagina/e 343-363, ISBN 978-3-031-47704-1
Editore: Springer Nature Switzerland
DOI: 10.1007/978-3-031-47705-8_18

Segmentation of Multibeam Echosounder Bathymetry and Backscatter

Autori: Jeremy Paul Coffelt, Amos Smith, Niklas Conen, Peter Kampmann
Pubblicato in: OCEANS 2024 - Singapore, 2024, Pagina/e 1-6, ISBN 979-8-3503-6207-7
Editore: IEEE
DOI: 10.1109/oceans51537.2024.10706267

LSTS Toolchain Framework for Deep Learning Implementation into Autonomous Underwater Vehicle

Autori: Martin Aubard, Ana Madureira, Luis Madureira, Renato Campos, Maria Costa, José Pinto, João Sousa
Pubblicato in: OCEANS 2023 - Limerick, 2023, Pagina/e 1-6, ISBN 979-8-3503-3226-1
Editore: IEEE
DOI: 10.1109/oceanslimerick52467.2023.10244721

Modeling and Safety Analysis of Autonomous Underwater Vehicles Behaviors

Autori: Sergio Quijano, Mahsa Varshosaz, Andrzej Wąsowski
Pubblicato in: 2024 IEEE International Conference on Software Testing, Verification and Validation Workshops (ICSTW), 2024, Pagina/e 63-67
Editore: IEEE
DOI: 10.1109/icstw60967.2024.00022

Mutation-Based Integration Testing of Knowledge Graph Applications

Autori: Tobias John, Einar Broch Johnsen, Eduard Kamburjan
Pubblicato in: 2024 IEEE 35th International Symposium on Software Reliability Engineering (ISSRE), Numero 2024, 2025, Pagina/e 475-486, ISBN 979-8-3503-5388-4
Editore: IEEE
DOI: 10.1109/issre62328.2024.00052

Peer reviewed articles (4)

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

Autori: Nael Jaber, Bilal Wehbe, Frank Kirchner
Pubblicato in: Ocean Engineering, Numero 331, 2025, Pagina/e 121254, ISSN 0029-8018
Editore: Pergamon Press Ltd.
DOI: 10.1016/j.oceaneng.2025.121254

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

Autori: Sasan Vakili, Mohammad Khosravi, Peyman Mohajerin Esfahani, Manuel Mazo
Pubblicato in: IEEE Control Systems Letters, Numero 8, 2024, Pagina/e 73-78, ISSN 2475-1456
Editore: IEEE
DOI: 10.1109/lcsys.2023.3347198

A Configurable Software Model of a Self-Adaptive Robotic System

Autori: Juliane Päßler, Maurice H. ter Beek, Ferruccio Damiani, Einar Broch Johnsen, S. Lizeth Tapia Tarifa
Pubblicato in: Science of Computer Programming, Numero 240, 2024, Pagina/e 103221, ISSN 0167-6423
Editore: Elsevier BV
DOI: 10.1016/j.scico.2024.103221

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

Autori: Olaya Álvarez-Tuñón, Yury Brodskiy, Erdal Kayacan
Pubblicato in: IEEE Transactions on Artificial Intelligence, Numero 5, 2024, Pagina/e 1990-2010, ISSN 2691-4581
Editore: IEEE
DOI: 10.1109/tai.2023.3321032

Book chapters (4)

Uncertainty Driven Active Learning for Image Segmentation in Underwater Inspection

Autori: Luiza Ribeiro Marnet, Yury Brodskiy, Stella Grasshof, Andrzej Wąsowski
Pubblicato in: Communications in Computer and Information Science, Robotics, Computer Vision and Intelligent Systems, 2024, Pagina/e 66-81
Editore: 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

Autori: László Antal, Martin Aubard, Erika Ábrahám, Ana Madureira, Luís Madureira, Maria Costa, José Pinto, Renato Campos
Pubblicato in: Lecture Notes in Networks and Systems, Innovations in Bio-Inspired Computing and Applications, 2023, Pagina/e 448-457, ISBN 978-3-031-27498-5
Editore: Springer Nature Switzerland
DOI: 10.1007/978-3-031-27499-2_42

Planning with OWL-DL Ontologies

Autori: Tobias John, Patrick Koopmann
Pubblicato in: Frontiers in Artificial Intelligence and Applications, ECAI 2024, Numero 2024, 2024, Pagina/e 4165 – 4172, ISBN 978-1-64368-548-9
Editore: IOS Press
DOI: 10.3233/faia240988

Template Decision Diagrams for Meta Control and Explainability

Autori: Clemens Dubslaff, Verena Klös, Juliane Päßler
Pubblicato in: Communications in Computer and Information Science, Explainable Artificial Intelligence, 2024, Pagina/e 219-242
Editore: Springer Nature Switzerland
DOI: 10.1007/978-3-031-63797-1_12