UIVNAV: Underwater Information-driven Vision-based Navigation via Imitation Learning
Xiaomin Lin,Nare Karapetyan,Kaustubh Joshi,Tianchen Liu,Nikhil Chopra,Miao Yu,Pratap Tokekar,Yiannis Aloimonos,Xiaomin Lin,Nare Karapetyan,Kaustubh Joshi,Tianchen Liu,Nikhil Chopra,Miao Yu,Pratap Tokekar,Yiannis Aloimonos
Autonomous navigation in the underwater environment is challenging due to limited visibility, dynamic changes, and the lack of a cost-efficient, accurate localization system. We introduce UIVNAV, a novel end-to-end underwater navigation solution designed to navigate robots over Objects of Interest (OOI) while avoiding obstacles, all without relying on localization. UIVNAV utilizes imitation learni...
