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An implementation of ROS on the Yellowfin autonomous underwater vehicle (AUV)
The design, testing, and mission execution of a network of autonomous underwater vehicles (AUV) is a difficult process. The design of low-level controllers requires high-fidelity hydrodynamic models
Underwater robotics
Current state-of-the art in the area of underwater robotics focusing on some key subsystems is described.
Sonar-Based Detection and Tracking of a Diver for Underwater Human-Robot Interaction Scenarios
Real-world results show that a moving diver can be autonomously distinguished from stationary objects in a noisy sonar image and tracked.
Navigation of an autonomous underwater vehicle(AUV) using robust SLAM
  • M. West, V. Syrmos
  • Engineering
    IEEE Conference on Computer Aided Control System…
  • 1 October 2006
This paper will present a robust extended Kalman filter (REKF) applied to the navigation of an autonomous underwater vehicle (AUV) using robust Simultaneous Localization and Mapping (SLAM)
A computationally-efficient 2D imaging sonar model for underwater robotics simulations in Gazebo
Divers have to perform technical underwater tasks in dangerous and unstructured environments. To reduce a diver's workload and improve overall safety, an underwater robotic assistant (UWRA) could be
Underwater human-robot communication: A case study with human divers
An analysis of the types of Underwater Human-Robot Communication that are possible between a diver and a UWRA and discusses implementation of a few of the proposed methods of UHRC where an underwater robot assists a diver during the installation of an underwater mechanical platform.
Robust stochastic mapping towards the SLAM problem
  • M. West, V. Syrmos
  • Mathematics, Computer Science
    Proceedings IEEE International Conference on…
  • 15 May 2006
The linearization and Guassian assumption errors as they relate to the SLAM problem are addressed by proposing a new method, robust stochastic mapping, which uses a Robust EKF (REKF) in order to address these limitations through the implementation of the bounded Hinfin norm.
Under Ice in Antarctica: The Icefin Unmanned Underwater Vehicle Development and Deployment
The custom-built Icefin under-ice unmanned underwater vehicle (UUV) has been developed for deployment in permanently ice-covered oceans, such as those found in Antarctica, with the intent of furthering relevant technology for future missions to Europa, a moon of Jupiter with an icecovered ocean.
Bio-inspired multi-robot communication through behavior recognition
Results are presented demonstrating heterogenous teammate cooperation between an AUV and an Autonomous Surface Vehicle (ASV) using behavior recognition rather than radio or acoustic communication in a mine clearing task.
Design and development of an under-ice autonomous underwater vehicle for use in Polar regions
Presented here is the initial hardware and software design of the Icefin autonomous underwater vehicle for use in under-ice missions in Antarctica. Exploration of the ocean beneath hundreds of meters