3 accepted papers
We present the new HippoCampus micro underwater vehicle, first introduced in [1]. It is designed for monitoring confined fluid volumes. These tightly constrained settings demand agile vehicle dynamics. Moreover, we adapt a robust attitude control scheme for aerial drones to the underwater domain. We…
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
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 con…