8 papers · 1 filter
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…
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…