1.1k citations · 1.4k across the 14 of their papers we have counts for
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Buoyancy enabled autonomous underwater construction with cement blocks
Samuel Lensgraf, Devin Balkcom, Alberto Quattrini Li
We present the first free-floating autonomous underwater construction system capable of using active ballasting to transport cement building blocks efficiently. It is the first fre…
Monocular Camera and Single-Beam Sonar-Based Underwater Collision-Free Navigation with Domain Randomization
Pengzhi Yang, Haowen Liu, Monika Roznere +1
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore,…
DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization
Bharat Joshi, Md Modasshir, Travis Manderson +5
In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous…
Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces
Jason Moulton, Nare Karapetyan, Michail Kalaitzakis +3
The ability to navigate, search, and monitor dynamic marine environments such as ports, deltas, tributaries, and rivers presents several challenges to both human operated and auton…
PuzzleFlex: kinematic motion of chains with loose joints
Samuel Lensgraf, Karim Itani, Yinan Zhang +7
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which ar…
Real-time Model-based Image Color Correction for Underwater Robots
Monika Roznere, Alberto Quattrini Li
Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, ca…
Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain
Bharat Joshi, Sharmin Rahman, Michail Kalaitzakis +8
A plethora of state estimation techniques have appeared in the last decade using visual data, and more recently with added inertial data. Datasets typically used for evaluation inc…
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…