4 papers
Above and Below: Heterogeneous Multi-robot SLAM Across Surface and Underwater Domains
John McConnell, Armon Shariati, Paul Szenher +1
Multi-robot simultaneous localization and mapping (SLAM) is a fundamental task in multi-robot operations. Robots must have a common understanding of their location and that of thei…
Opti-Acoustic Scene Reconstruction in Highly Turbid Underwater Environments
Ivana Collado-Gonzalez, John McConnell, Paul Szenher +1
Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in t…
Distributional Reinforcement Learning based Integrated Decision Making and Control for Autonomous Surface Vehicles
Xi Lin, Paul Szenher, Yewei Huang +1
With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in…
Large-Scale Dense 3D Mapping Using Submaps Derived From Orthogonal Imaging Sonars
John McConnell, Ivana Collado-Gonzalez, Paul Szenher +1
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoust…