This paper presents a cognitive architecture consisting of an ontology and multiple Large Language Models to assist the operator at all stages of the mission to prove that using the two together will allow decisions to be grounded in the relevant domain knowledge, but also benefit from the reasoning capabilities of the...
Niamh Ellis, T. Tran, Ignacio Carlucho et al.· 0 citations
Accurate state estimation for autonomous underwater vehicles performing close-range seafloor sampling remains challenging. In low-altitude operation, down-looking cameras over featureless planar seabeds produce scale ambiguity, lateral degeneracy, and inconsistent feature tracking. Meanwhile, inertial-Doppler Velocity...
Michele Grimaldi, Yosaku Maeda, H. Kakami et al.· 0 citations
A Vision language model (VLM)-assisted semantic-mapping pipeline is demonstrated that extracts obstacles and environmental context from satellite imagery, nautical charts, and forecast Application Programming Interface (API) instead of onboard sensors, reaching 96% navigability accuracy as a drop-in replacement for han...
Markus Buchholz, Ignacio Carlucho, Yvan R. Pétillot· 0 citations
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