{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T08:50:50Z","timestamp":1771923050664,"version":"3.50.1"},"reference-count":41,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T00:00:00Z","timestamp":1769040000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>The subject of this article is the development of an unmanned surface vehicle (USV) for the removal of floating debris. A twin-hulled boat with four thrusters placed at the corners of the vessel is used for this purpose. The trash is collected in a storage space through a timing belt driven by an electric motor. The debris is accumulated in a funnel positioned at the front of the boat and subsequently raised through this belt into the garbage bin. The boat is equipped with a spherical camera, a long-range 2D LiDAR, and an inertial measurement unit (IMU) for simultaneous localization and mapping (SLAM). The floating debris is identified from rectified camera frames using YOLO, while the LiDAR and IMU concurrently provide the USV\u2019s odometry. Visual methods are utilized to determine the location of debris and obstacles in the 3D environment. The optimal order in which the debris is collected is determined by solving the orienteering problem, and the planar convex hull of the boat is combined with map and obstacle data via the Open Motion Planning Library (OMPL) to perform path planning. Pure pursuit is used to generate the trajectory from the obtained path. Limits on the linear and angular velocities are experimentally estimated, and a PID controller is tuned to improve path following. The USV is evaluated in an indoor swimming pool containing static obstacles and floating debris.<\/jats:p>","DOI":"10.3389\/frobt.2025.1718177","type":"journal-article","created":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T08:48:50Z","timestamp":1769071730000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["ATRON: Autonomous trash retrieval for oceanic neatness"],"prefix":"10.3389","volume":"12","author":[{"given":"John","family":"Abanes","sequence":"first","affiliation":[{"name":"Electrical and Computer Engineering, NYU Tandon School of Engineering","place":["New York, NY, United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hyunjin","family":"Jang","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Virginia Tech","place":["Blacksburg, VA, United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Behruz","family":"Erkinov","sequence":"additional","affiliation":[{"name":"Electrical Engineering, New York University Abu Dhabi","place":["Abu Dhabi, United Arab Emirates"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jana","family":"Awadalla","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Egyptian Refining Company","place":["Cairo, Egypt"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Anthony","family":"Tzes","sequence":"additional","affiliation":[{"name":"Center of Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi","place":["Abu Dhabi, United Arab Emirates"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2026,1,22]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"3026","DOI":"10.3390\/s25103026","article-title":"AI-Driven dynamic covariance for ROS 2 Mobile robot localization","volume":"25","author":"Abaza","year":"2025","journal-title":"Sensors"},{"key":"B2","doi-asserted-by":"publisher","first-page":"209","DOI":"10.57417\/jrnal.9.3_209","article-title":"Design and development of ocean debris collecting unmanned surface vehicle and performance evaluation of collecting device in tank","volume":"9","author":"Ahn","year":"2022","journal-title":"J. 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