6 papers
Manipulider: A Multi-Engine Buoyancy-Controlled Robot for Thrusterless Underwater Gliding and Manipulation
Yitao Jiang, Yewei Huang, Weizhi Cao +5
The Manipulider is a buoyancy-actuated underwater robot that enables thrusterless, glide-like locomotion and attitude-based manipulation, while providing a magnetic modular interfa…
RENEW: Risk- and Energy-Aware Navigation in Dynamic Waterways
Mingi Jeong, Alberto Quattrini Li
We present RENEW, a global path planner for Autonomous Surface Vehicle (ASV) in dynamic environments with external disturbances (e.g., water currents). RENEW introduces a unified r…
SeePerSea: Multi-modal Perception Dataset of In-water Objects for Autonomous Surface Vehicles
Mingi Jeong, Arihant Chadda, Ziang Ren +8
This paper introduces the first publicly accessible labeled multi-modal perception dataset for autonomous maritime navigation, focusing on in-water obstacles within the aquatic env…
Multi-Object Active Search and Tracking by Multiple Agents in Untrusted, Dynamically Changing Environments
Mingi Jeong, Cristian Molinaro, Tonmoay Deb +5
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with pa…
Active Learning-augmented Intention-aware Obstacle Avoidance of Autonomous Surface Vehicles in High-traffic Waters
Mingi Jeong, Arihant Chadda, Alberto Quattrini Li
This paper enhances the obstacle avoidance of Autonomous Surface Vehicles (ASVs) for safe navigation in high-traffic waters with an active state estimation of obstacle's passing in…
An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion
Luyang Zhao, Yitao Jiang, Chun-Yi She +5
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, wi…