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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…
Passive Phase-Oriented Impedance Shaping for Rapid Acceleration in Soft Robotic Swimmers
Qimin Feng, Orion A. Roberts, Qiang Zhong
Rapid acceleration and burst maneuvers in underwater robots depend less on maintaining precise resonance and more on force--velocity phase alignment during thrust generation. In th…