Christopher Tomaszewski

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In this paper, we outline a low cost multi-robot autonomous platform for a broad set of applications including water quality monitoring, flood disaster miti-gation and depth buoy verification. By working cooperatively, fleets of vessels can cover large areas that would otherwise be impractical, time consuming and prohibitively expensive to traverse by a(More)
This paper addresses the problem of using a fleet of autonomous watercraft to create models of various water quality parameters in complex environments using intelligent sampling algorithms. Maps depicting the spatial variation of these parameters can help researchers understand how certain ecological processes work and in turn help reduce the negative(More)
Multi-robot systems (MRS) have great promise for revolutionizing the way a variety of important and complex tasks are performed. While the underlying science is advancing quickly, the engineering problems associated with deploying multi-robot team under real world constraints have not been adequately addressed. In this work, we are developing teams of(More)
This paper presents a visual obstacle avoidance system for low-cost autonomous watercraft in riverine environments, such as lakes and rivers. Each watercraft is equipped with a smartphone which offers a single source of perceptual sensing, via a monocular camera. To achieve autonomous navigation in riverine environments, watercraft must overcome the(More)
—This research addresses the problem of planning efficient paths for agents through flow fields in small real-world domains where vehicle dynamics and environmental uncertainty can significantly affect the optimality of a path. In particular, we consider the task of planning routes for small autonomous airboats deployed in various river domains so as to(More)
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