2 citations · 3 across the 14 of their papers we have counts for
7 papers · 1 filter
Low-cost Multi-agent Fleet for Acoustic Cooperative Localization Research
Nelson Durrant, Braden Meyers, Matthew McMurray +5
Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Au…
Testing and Evaluation of Underwater Vehicle Using Hardware-In-The-Loop Simulation with HoloOcean
Braden Meyers, Joshua G. Mangelson
Testing marine robotics systems in controlled environments before field tests is challenging, especially when acoustic-based sensors and control surfaces only function properly und…
A Preview of HoloOcean 2.0
Blake Romrell, Abigail Austin, Braden Meyers +3
Marine robotics simulators play a fundamental role in the development of marine robotic systems. With increased focus on the marine robotics field in recent years, there has been s…
Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping
Chad R. Samuelson, Abigail Austin, Seth Knoop +4
Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environ…
Feature Geometry for Stereo Sidescan and Forward-looking Sonar
Kalin Norman, Joshua G. Mangelson
In this paper, we address stereo acoustic data fusion for marine robotics and propose a geometry-based method for projecting observed features from one sonar to another for a cross…
Factor-Graph-Based Passive Acoustic Navigation for Decentralized Cooperative Localization Using Bearing Elevation Depth Difference
Kalliyan Velasco, Timothy W. McLain, Joshua G. Mangelson
Accurate and scalable underwater multi-agent localization remains a critical challenge due to the constraints of underwater communication. In this work, we propose a multi-agent lo…
Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments
Chad R Samuelson, Timothy W McLain, Joshua G Mangelson
High-level autonomous operations depend on a robot's ability to construct a sufficiently expressive model of its environment. Traditional three-dimensional (3D) scene representatio…