3 papers
cs.RO2026
CougarTail & CUB: A General-Purpose Mast and Central Utility Board for Cylindrical Underwater Enclosures
Ben Washburn, Clayton Smith, Eli Gaskin +4
Cylindrical watertight enclosures are widely used across various underwater systems, from unmanned underwater vehicles (UUVs), to remotely operated vehicles (ROVs), to various sens…
cs.RO2026
The Coastline as a Structural Constraint: Harnessing Scene Geometry for Autonomous Surface Vessel Localization
Derek R. Benham, Joshua G. Mangelson
Coastal environments contain rich, largely unexploited geometric structure capable of providing globally referenced localization cues. In this work, we present two complementary lo…
cs.RO2025
Invariant Extended Kalman Filtering with Partial Orientation Measurement Integration: Theoretical Derivations and Application to Autonomous Surface Vessels
Derek R. Benham, Easton R. Potokar, Joshua G. Mangelson
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularl…