104 citations · 105 across the 6 of their papers we have counts for
6 papers
Underwater Navigation in Unsteady Flows Using Measurement Histories from a Single Sensing Unit
Linhao Jin, Qimin Feng, Peter Gunnarson +1
Spatial flow measurements support underwater navigation, but distributed sensing is constrained by robot size and sensor layout. We use a causal observer to estimate current latera…
Write-Safe Flow Field Mapping under Ambiguous Onboard Sensing and Localization Drift
Linhao Jin, Qimin Feng, Peter Gunnarson +1
Mobile robots can infer local flow structure from onboard sensing, but a locally plausible estimate is not always safe to write into a global map. Similar flow structures may produ…
AquaMILR+: Design of an untethered limbless robot for complex aquatic terrain navigation
Matthew Fernandez, Tianyu Wang, Galen Tunnicliffe +4
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that m…
Surfing vortex rings for energy-efficient propulsion
Peter Gunnarson, John O. Dabiri
Leveraging background fluid flows for propulsion has the potential to enhance the range and speed of autonomous aerial and underwater vehicles. In this work, we demonstrate experim…
Fish-inspired tracking of underwater turbulent plumes
Peter Gunnarson, John O. Dabiri
Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in r…
Learning Efficient Navigation in Vortical Flow Fields
Peter Gunnarson, Ioannis Mandralis, Guido Novati +2
Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only…