Hordur Kristinn Heidarsson

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— In this paper we study the problem of manipulating and transporting multiple objects on the plane using a cable attached at each end to a mobile robot. This problem is motivated by the use of boats with booms in skimming operations for cleaning oil spills or removing debris on the surface of the water. The goal in this paper is to automate the task of(More)
— We present a collaborative team of two under-actuated autonomous surface vessels (ASVs) that performs a cooperative navigation task while satisfying a communication constraint. Our approach is based on the use of a hierarchical control structure where a supervisory module commands each vessel to perform prioritized elementary tasks, a behavior-based(More)
Autonomous Underwater Vehicles (AUVs) are revolutionizing oceanog-raphy. Most high-endurance and long-range AUVs rely on satellite phones as their primary communications interface during missions for data/command telemetry due to its global coverage. Satellite phone (e.g., Iridium) expenses can make up a significant portion of an AUV's operating budget(More)
—We describe a technique for an Autonomous Surface Vehicle (ASV) to learn an obstacle map by classifying overhead imagery. Classification labels are supplied by a front-facing sonar, mounted under the water line on the ASV. We use aerial imagery from two online sources for each of two water bodies (a small lake and a harbor) and train classifiers using(More)
— We present an experimental study of a mechanically scanned profiling sonar for Autonomous Surface Vehicle (ASV) obstacle detection and avoidance. We extract potential obstacles from echo returns and suggest a scanning strategy for sonar in this application. We demonstrate with simulations (driven by data collected in the field) the potential for an ASV to(More)
— We present a study on the use of cooperative robots to execute a caging mission on the water's surface. In particular, we consider the problem of using two robotic boats (under-actuated autonomous surface vessels (ASVs)) connected with a floating rope, to 'capture' a floating object from a known location on the water's surface and 'shepherd' it to a(More)
Fig. 1. (left) The oil slick caused by the Deep Water Horizon explosion as seen from space by NASA's Terra satellite on May 24, 2010 and (right) a skimming operation with two vessels in the gulf of Mexico. Abstract— Oil skimmers towed by two vehicles have been widely used for skimming of oil on the water surface. In this paper, we model the skimmer as a(More)
Autonomous Underwater Vehicles (AUVs) are revolutionizing oceanography through their versatility, autonomy and endurance. However, they are still an underutilized technology. For coastal operations, the ability to track a certain feature is of interest to ocean scientists. Adaptive and predictive path planning requires frequent communication with(More)
We present a study on the cooperative control of two autonomous surface vehicles performing a caging and transport mission on the water surface. The two vehicles, connected to each other by means of a floating flexible rope, are required to capture a floating target from a given location , and transport it to a designated position. We focus on the(More)