G. Masi

Formation Control With Obstacle Avoidance of Underwater Swarms Based on Relative Visual Feedback

Andrea Infanti, Saverio Iacoponi, Saif Alameri, Mohammed El Hanbaly et autres

ABSTRACT Underwater multi‐robot and swarm systems require advanced methodologies for controlling collective behavior. Conventional single‐robot techniques, such as tethering, sonar imaging, and acoustic localization, are not scalable or effective for swarm applications. This work introduces novel approaches for visual detection, relative localization, …

fr, us, ae (code pays fourni par la source)

Distilling Knowledge to Efficient Transformer for Semi-Supervised Citrus Maturity Detection Using Consumer UAVs

Jamil Ahmad, M. A. Q. Khan, Wail Gueaieb, Abdulmotaleb El Saddik et autres

Accurate detection of citrus fruit maturity is critical for optimizing harvest schedules and maximizing yield. Consumer-grade unmanned aerial vehicles (UAVs) have emerged as cost-effective alternatives to traditional methods for detecting maturity, which rely on labor-intensive manual inspections. This paper presents a two-step, …

ae, ca (code pays fourni par la source)

Underwater Robotic Swarms: Lightweight Visual Tracking and Relative Localization Approach

Rim ElTobgui, Saverio Iacoponi, Federico Renda, G. Masi et autres

Reliable visual tracking and localization remain significant challenges in underwater swarm robotics due to limited visibility, frequent occlusions, and stringent computational constraints. This technical communication presents a lightweight visual perception framework designed and validated for deployment on the edge of underwater robotic …

ae (code pays fourni par la source)

NeuroVIO: A Hybrid Neural Network Framework for Visual–Inertial Odometry Estimation

Vidya Sudevan, Rizwana Kausar, Abdalla Rashed, Sajid Javed et autres

ae, fr (code pays fourni par la source)

Underwater Inspection Platform for Vision-Based Biodiversity Identification

Gianluca Manduca, Gaspare Santaera, Ada Natoli, G. Masi et autres

Marine biodiversity monitoring is crucial for understanding and mitigating the impacts of environmental change, overfishing, and habitat degradation. In this work, we present an autonomous, fish-inspired robotic platform designed for in situ identification of marine species. The system allows for realtime perception …

it, ae (code pays fourni par la source)

Vision-Language Models for Underwater Ecological Monitoring

Rim ElTobgui, Saverio Iacoponi, Sajid Javid, Federico Renda et autres

This work presents SeaQuery, a dual-path visionlanguage system for underwater ecological monitoring that combines segmentation-derived metrics with multimodal reasoning. The system employs two pathways: a segmentation-guided path using a pre-trained SegFormer model to extract quantitative ecological metrics (coral cover, bleaching extent, species …

ae (code pays fourni par la source)

BB-UWCrack: A Benchmark Dataset for Bounding Box Crack Detection in Underwater Structures

Mahmoud Elmezain, Abderrahmene Boudiaf, Muayad Abujabal, Adarsh Ghimire et autres

Underwater structures are essential for the exploration and exploitation of offshore Oil & Gas. The damage to such structures can result in environmental contamination, explosions, and financial loss. Therefore, it is crucial to use intelligent inspection technologies to guarantee the integrity of …

ae (code pays fourni par la source)

Women in Robotics: Insights Into the First International Conference on Intelligent Robots and Systems in the Middle East [Women in Engineering]

Reem Ashour, Sara Aldhaheri, Julie Stephany Berrío, G. Masi

The 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), held for the first time in the Middle East, featured two key events dedicated to Women in Engineering (WIE): the Empowering Diverse Voices in Robotics (EDVR) Forum and the 2024 IEEE …

ae, us, gb, au (code pays fourni par la source)

Leveraging model explainability and fine-grained cutmix augmentation for robust detection of apricot diseases in UAV images

Jamil Ahmad, Wail Gueaieb, G. Masi, Fakhri Karray

ae, ca (code pays fourni par la source)

LSTM-Enhanced Predictive Display for Wireless Underwater Teleoperation Under Time Delays

Mahmoud Elmezain, Saverio Iacoponi, Fakhreddine Zayer, Irfan Hussain et autres

Acoustic communication allows underwater Remotely Operated Vehicles (ROVs) to be controlled wirelessly, improving their maneuverability by removing the need for a physical tether connection to the surface. However, acoustic communication suffers from severe delays, degrading the operator's performance due to the lag …

ae (code pays fourni par la source)

SwarmSwIM: A Simulator for Underwater Swarms of Robots

Saverio Iacoponi, Andrea Infanti, Mohammed El Hanbaly, G. Masi et autres

Simulation plays a crucial role in the design, testing, and validation of underwater multi-robot systems, enabling algorithm development in a controlled environment. While high-fidelity dynamic models are essential for certain applications, many multi-robot and swarm control strategies prioritize local control emulation and …

ae (code pays fourni par la source)

Processing Continuous-Valued Signals for Multimodal Spike-Based Pose Regression

Vidya Sudevan, Fakhreddine Zayer, Rizwana Kausar, Sajid Javed et autres

In underwater missions, energy-efficient operation is critical to maximize the operability of an autonomous robots and mission duration. At the same time, accurate pose estimation at reduced computational cost is essential for various underwater robotics and exploration applications. This paper presents an …

ae (code pays fourni par la source)