6 papers · 1 filter
CORAL-AUV: CFD Oriented Reinforcement Learning for Autonomous Underwater Vehicles
Steven Roche, Milo Van Mooy, Nathan McGuire +3
Fine grain control and positioning of autonomous underwater vehicles (AUVs) is critical for sampling, maintenance, and survey applications. Traditional control methods for AUVs are…
Autonomous Sea Turtle Robot for Marine Fieldwork
Zach J. Patterson, Emily Sologuren, Levi Cai +4
Autonomous robots can transform how we observe marine ecosystems, but close-range operation in reefs and other cluttered habitats remains difficult. Vehicles must maneuver safely n…
Measuring and Minimizing Disturbance of Marine Animals to Underwater Vehicles
Levi Cai, Youenn Jézéquel, T. Aran Mooney +1
Do fish respond to the presence of underwater vehicles, potentially biasing our estimates about them? If so, are there strategies to measure and mitigate this response? This work p…
A Roadmap for Climate-Relevant Robotics Research
Alan Papalia, Charles Dawson, Laurentiu L. Anton +25
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for clima…
Learning to Swim: Reinforcement Learning for 6-DOF Control of Thruster-driven Autonomous Underwater Vehicles
Levi Cai, Kevin Chang, Yogesh Girdhar
Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which are significant in water and cannot be ignored. The p…
ReefGlider: A highly maneuverable vectored buoyancy engine based underwater robot
Kevin Macauley, Levi Cai, Peter Adamczyk +1
There exists a capability gap in the design of currently available autonomous underwater vehicles (AUV). Most AUVs use a set of thrusters, and optionally control surfaces, to contr…