1.1k citations · 1.5k across the 25 of their papers we have counts for
9 papers · 1 filter
Autonomous Marine Sampling Enhanced by Strategically Deployed Drifters in Marine Flow Fields
Johanna Hansen, Sandeep Manjanna, Alberto Quattrini Li +2
We present a transportable system for ocean observations in which a small autonomous surface vehicle (ASV) adaptively collects spatially diverse samples with aid from a team of ine…
SVIn2: An Underwater SLAM System using Sonar, Visual, Inertial, and Depth Sensor
Sharmin Rahman, Alberto Quattrini Li, Ioannis Rekleitis
This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the un…
Underwater Surveying via Bearing only Cooperative Localization
Hunter Damron, Alberto Quattrini Li, Ioannis Rekleitis
Bearing only cooperative localization has been used successfully on aerial and ground vehicles. In this paper we present an extension of the approach to the underwater domain. The…
External Force Field Modeling for Autonomous Surface Vehicles
Jason Moulton, Nare Karapetyan, Alberto Quattrini Li +1
Operating in the presence of strong adverse forces is a particularly challenging problem in field robotics. In most robotic operations where the robot is not firmly grounded, such…
An Autonomous Surface Vehicle for Long Term Operations
Jason Moulton, Nare Karapetyan, Sharon Bukhsbaum +5
Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it cov…
Multi-robot Dubins Coverage with Autonomous Surface Vehicles
Nare Karapetyan, Jason Moulton, Jeremy S. Lewis +3
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such…
Efficient Multi-Robot Coverage of a Known Environment
Nare Karapetyan, Kelly Benson, Chris McKinney +2
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all availabl…
Dynamically Efficient Kinematics for Hyper-Redundant Manipulators
Marios P. Xanthidis, Kostantinos J. Kyriakopoulos, Ioannis Rekleitis
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom a…
Analysis of Motion Planning by Sampling in Subspaces of Progressively Increasing Dimension
Marios P. Xanthidis, Joel M. Esposito, Ioannis Rekleitis +1
Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include…