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We describe recent results obtained with AQUA, a mobile robot capable of swimming, walking and amphibious operation. Designed to rely primarily on visual sensors, the AQUA robot uses vision to navigate underwater using servo-based guidance, and also to obtain high-resolution range scans of its local environment. This paper describes some of the pragmatic(More)
— Autonomous vehicle navigation with standard IMU and differential GPS has been widely used for aviation and military applications. Our research interesting is focused on using some low-cost off-the-shelf sensors, such as strap-down IMU, inexpensive single GPS receiver. In this paper, we present an autonomous vehicle navigation method by integrating the(More)
This paper describes an underwater walking robotic system being developed under the name AQUA, the goals of the AQUA project, the overall hardware and software design, the basic hardware and sensor packages that have been developed, and some initial experiments. The robot is based on the RHex hexapod robot and uses a suite of sensing technologies, primarily(More)
AQUA, an amphibious robot that swims via the motion of its legs rather than using thrusters and control surfaces for propulsion, can walk along the shore, swim along the surface in open water, or walk on the bottom of the ocean. The vehicle uses a variety of sensors to estimate its position with respect to local visual features and provide a global frame of(More)
New algorithms for the classical problem of fairing cubic spline curves and bicubic spline surfaces are presented. To fair a cubic spline curve or a bicubic spline surface with abnormal portions, the algorithms (automatically or interactively) identify thèbad' data points and replace them with new points produced by minimizing the strain energy of the new(More)
Consistent image mosaicking is a potentially useful tool for robot navigation and map construction. This paper presents an automatic algorithm to generate consistent image mosaicking. During the robot processing, local optimization based on the related previous images is used for every newly added image on the baseline approach view. As soon as a loop is(More)
Accurate localization for underwater robot is a big challenge in the mobile robot community. We use acoustic and visual-based approaches to solve the problem. In this paper, we focuses on the artificial landmark visual-based localization. The robot carries the camera to localize its position by calculating the camera's viewpoint through looking at the(More)
– Based on the RHHex hexapod robot, the AQUA robot is an aquatic robot that swims via the motion of its legs, rather than using thrusters and control surfaces for propulsion. Through an appropriate set of gaits, the AQUA vehicle is capable of five-degree-of-freedom motion in the open water, it can swim along the surface and it can walk along the seabed. The(More)