7 papers
Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping
Chad R. Samuelson, Abigail Austin, Seth Knoop +4
Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environ…
Low-cost Multi-agent Fleet for Acoustic Cooperative Localization Research
Nelson Durrant, Braden Meyers, Matthew McMurray +5
Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Au…
Testing and Evaluation of Underwater Vehicle Using Hardware-In-The-Loop Simulation with HoloOcean
Braden Meyers, Joshua G. Mangelson
Testing marine robotics systems in controlled environments before field tests is challenging, especially when acoustic-based sensors and control surfaces only function properly und…
A Preview of HoloOcean 2.0
Blake Romrell, Abigail Austin, Braden Meyers +3
Marine robotics simulators play a fundamental role in the development of marine robotic systems. With increased focus on the marine robotics field in recent years, there has been s…
Feature Geometry for Stereo Sidescan and Forward-looking Sonar
Kalin Norman, Joshua G. Mangelson
In this paper, we address stereo acoustic data fusion for marine robotics and propose a geometry-based method for projecting observed features from one sonar to another for a cross…
Factor-Graph-Based Passive Acoustic Navigation for Decentralized Cooperative Localization Using Bearing Elevation Depth Difference
Kalliyan Velasco, Timothy W. McLain, Joshua G. Mangelson
Accurate and scalable underwater multi-agent localization remains a critical challenge due to the constraints of underwater communication. In this work, we propose a multi-agent lo…