3 citations · 4 across the 21 of their papers we have counts for
21 papers
Contact-Aided Factor-Graph Localization for Underwater Sampling
Michele Grimaldi, Yosaku Maeda, Hitoshi Kakami +3
Accurate state estimation for autonomous underwater vehicles performing close-range seafloor sampling remains challenging. In low-altitude operation, down-looking cameras over feat…
A Cognitive Architecture for Shared Autonomy in AUV Operations
Niamh Ellis, Thi Tran, Ignacio Carlucho +1
Operators remain essential to Remotely Operated Vehicle (ROV) operation, yet often suffer from low situational awareness and high workload, both of which negatively affect safety.…
Beyond Shallow-Water Photorealism: Physically and Sensor-Grounded Simulation for Deep-Sea Robotics
Michele Grimaldi, Enrico Di Maria, Ignacio Carlucho +1
Many recent underwater simulators emphasize visual realism at the expense of physical fidelity, focusing on shallow-water effects with limited relevance in deep-water environments…
SAGE: Ergodic Control for Autonomous and Adaptive Inspection of Subsea Infrastructure
Markus Buchholz, Ignacio Carlucho, Yvan R. Petillot
Subsea Christmas Trees (XTs) are underwater structures that use valves for directing oil flow, needing constant inspection. But not every valve carries the same risk at the same ti…
World-Model-Grounded LLM Planning for AUV and ASV Navigation Near Offshore Wind Farms
Markus Buchholz, Ignacio Carlucho, Yvan R. Petillot
Large language models can turn a natural-language mission into a sequence of robot actions, but they do not have a sense of physics: they cannot judge how long a command should run…
BALTIC: A Benchmark and Cross-Domain Strategy for 3D Reconstruction Across Air and Underwater Domains Under Varying Illumination
Michele Grimaldi, David Nakath, Oscar Pizarro +3
Robust 3D reconstruction across varying environmental conditions remains a critical challenge for robotic perception, particularly when transitioning between air and water. To addr…
Towards reliable subsea object recovery: a simulation study of an auv with a suction-actuated end effector
Michele Grimaldi, Yosaku Maeda, Hitoshi Kakami +3
Autonomous object recovery in the hadal zone is challenging due to extreme hydrostatic pressure, limited visibility and currents, and the need for precise manipulation at full ocea…
InsSo3D: Inertial Navigation System and 3D Sonar SLAM for turbid environment inspection
Simon Archieri, Ahmet Cinar, Shu Pan +4
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (IN…
VISO: Robust Underwater Visual-Inertial-Sonar SLAM with Photometric Rendering for Dense 3D Reconstruction
Shu Pan, Simon Archieri, Ahmet Cinar +3
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VI…
A Collaborative Reasoning Framework for Anomaly Diagnostics in Underwater Robotics
Markus Buchholz, Niamh Ellis, Rahaf Abu Hara +2
The safe deployment of autonomous systems in safety-critical settings requires a paradigm that combines human expertise with AI-driven analysis, especially when anomalies are unfor…
Framework for Robust Motion Planning of Tethered Multi-Robot Systems in Marine Environments
Markus Buchholz, Ignacio Carlucho, Zebin Huang +4
This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which comm…
Tethered Multi-Robot Systems in Marine Environments
Markus Buchholz, Ignacio Carlucho, Michele Grimaldi +1
This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the…
Distributed AI Agents for Cognitive Underwater Robot Autonomy
Markus Buchholz, Ignacio Carlucho, Michele Grimaldi +1
Achieving robust cognitive autonomy in robots navigating complex, unpredictable environments remains a fundamental challenge in robotics. This paper presents Underwater Robot Self-…
Advancing Shared and Multi-Agent Autonomy in Underwater Missions: Integrating Knowledge Graphs and Retrieval-Augmented Generation
Michele Grimaldi, Carlo Cernicchiaro, Sebastian Realpe Rua +6
Robotic platforms have become essential for marine operations by providing regular and continuous access to offshore assets, such as underwater infrastructure inspection, environme…
Context-Aware Behavior Learning with Heuristic Motion Memory for Underwater Manipulation
Markus Buchholz, Ignacio Carlucho, Michele Grimaldi +2
Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively util…
MarineGym: A High-Performance Reinforcement Learning Platform for Underwater Robotics
Shuguang Chu, Zebin Huang, Yutong Li +4
This work presents the MarineGym, a high-performance reinforcement learning (RL) platform specifically designed for underwater robotics. It aims to address the limitations of exist…
Stonefish: Supporting Machine Learning Research in Marine Robotics
Michele Grimaldi, Patryk Cieslak, Eduardo Ochoa +6
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operati…
SpasticMyoElbow: Physical Human-Robot Interaction Simulation Framework for Modelling Elbow Spasticity
Hao Yu, Zebin Huang, Yutong Li +4
Robotic devices hold great potential for efficient and reliable assessment of neuromotor abnormalities in post-stroke patients. However, spasticity caused by stroke is still assess…
MarineGym: Accelerated Training for Underwater Vehicles with High-Fidelity RL Simulation
Shuguang Chu, Zebin Huang, Mingwei Lin +2
Reinforcement Learning (RL) is a promising solution, allowing Unmanned Underwater Vehicles (UUVs) to learn optimal behaviors through trial and error. However, existing simulators l…
Digital Twins Below the Surface: Enhancing Underwater Teleoperation
Favour O. Adetunji, Niamh Ellis, Maria Koskinopoulou +2
Subsea exploration, inspection, and intervention operations heavily rely on remotely operated vehicles (ROVs). However, the inherent complexity of the underwater environment presen…
Replication of Impedance Identification Experiments on a Reinforcement-Learning-Controlled Digital Twin of Human Elbows
Hao Yu, Zebin Huang, Qingbo Liu +2
This study presents a pioneering effort to replicate human neuromechanical experiments within a virtual environment utilising a digital human model. By employing MyoSuite, a state-…