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The HippoCampus platform is a low-cost micro autonomous underwater vehicle for swarm robotics research. This paper presents the hardware and software design, the communication link, instrumentation, and control system. The quadrotor design enables the vehicle to perform agile maneuvers in a very confined test tank. Vehicle navigation is based on the(More)
A hyperbolic acoustic system for underwater robot self-localization is presented. Anchored transducers send acoustic signals which are observed by a receiver. The system is passive with one-way signal transmission. Time differences of arrival (TDOAs) between the emitted signals are estimated by the receiver via cross-correlation. These TDOAs are fed to an(More)
The development of a semi-automated haptic device for installing cables is a promising application for ship building industry, as well as in other industries which require power cable installations. The most critical tasks of this device involve quickly and reliably grasping and releasing cables. In this study, we design a device with an end-effector that(More)
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