8 papers
InsSo3D: Inertial Navigation System and 3D Sonar SLAM for turbid environment inspection
Simon Archieri, Ahmet Cinar, Shu Pan +4
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (IN…
Towards reliable subsea object recovery: a simulation study of an auv with a suction-actuated end effector
Michele Grimaldi, Yosaku Maeda, Hitoshi Kakami +3
Autonomous object recovery in the hadal zone is challenging due to extreme hydrostatic pressure, limited visibility and currents, and the need for precise manipulation at full ocea…
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…