3 citations · 3 across the 20 of their papers we have counts for
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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…
Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection
Tareq Aziz Alqutami, Yvan Petillot, Matthew W. Dunnigan +1
Contact-based industrial inspection requires aerial platforms to maintain stable interaction while rejecting disturbances. Underactuated aerial manipulators present control challen…