AIConfPaper
← Search

Edwin Kreuzer

12 accepted papers

2022

UWRange: An Open ROS Framework for Simulating Acoustic Ranging and Localization for Underwater Robots under Realistic Conditions

Fabian Steinmetz, Daniel A Duecker, Nils Sichert, Christian Busse, Edwin Kreuzer, Bernd-Christian Renner
IROS 2022poster

Considering realistic characteristics of acoustic localization methods is crucial for roboticists when developing guidance and control algorithms for small and agile underwater robots. Current simulators either rely purely on geometric distancing, i.e. do not consider dynamic effects such as robot m…

Cited by 4Source ↗Scholar ↗
2021

Embedded Stochastic Field Exploration with Micro Diving Agents using Bayesian Optimization-Guided Tree-Search and GMRFs

Daniel A Duecker, Benedikt Mersch, Rene C Hochdahl, Edwin Kreuzer
IROS 2021poster

Exploration and monitoring of hazardous fields in marine environments is one of the most promising tasks to be performed by fleets of low-cost micro autonomous underwater vehicles (μAUVs). In contrast to vehicles in other domains, underwater robots are forced to perform all computations onboard as n…

Cited by 9Source ↗Scholar ↗
2021

From Aerobatics to Hydrobatics: Agile Trajectory Planning and Tracking for Micro Underwater Robots

Daniel A Duecker, Christian Horst, Edwin Kreuzer
IROS 2021poster

Aerobatic quadrotors have been a very active field of research for the last two decades. Their huge community boosted the development of computational light-weight planning and control algorithms. In contrast and despite recent progress, research on agile micro autonomous underwater vehicles (µAUV)…

Cited by 6Source ↗Scholar ↗
2020

Towards Micro Robot Hydrobatics: Vision-based Guidance, Navigation, and Control for Agile Underwater Vehicles in Confined Environments

Daniel A Duecker, Nathalie Bauschmann, Tim Hansen, Edwin Kreuzer, Robert Seifried
IROS 2020poster

Despite the recent progress, guidance, navigation, and control (GNC) are largely unsolved for agile micro autonomous underwater vehicles (μAUVs). Hereby, robust and accurate self-localization systems which fit μAUVs play a key role and their absence constitutes a severe bottleneck in micro underwate…

Cited by 27Source ↗Scholar ↗
2019

An Integrated Approach to Navigation and Control in Micro Underwater Robotics using Radio-Frequency Localization

Daniel A Duecker, Tobias Johannink, Edwin Kreuzer, Viktor Rausch, Eugen Solowjow
ICRA 2019poster

Navigation and control are a largely unsolved problems for micro autonomous underwater vehicles (μAUVs). The main challenges are due to the lack of accurate underwater localization systems, which fit on-board of μAUVs. In this work, we present an integrated navigation and control architecture consis…

Cited by 10Source ↗Scholar ↗
2019

Towards an Open-Source Micro Robot Oceanarium: A Low-Cost, Modular, and Mobile Underwater Motion-Capture System

Daniel A. Duecker, Kevin Eusemann, Edwin Kreuzer
IROS 2019poster

Micro autonomous underwater vehicles (μAUVs) allow early-stage experimental testing even in small tanks. In contrast to large facilities, these tanks are usually not equipped with high-fidelity motion capture systems due to high cost and reduced required accuracy for proof-of-concept testing.In this…

Cited by 7Source ↗Scholar ↗
2018

Micro Underwater Vehicle Hydrobatics: A Submerged Furuta Pendulum

Daniel A Duecker, Axel Hackbarth, Tobias Johannink, Edwin Kreuzer, Eugen Solowjow
ICRA 2018poster

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…

Cited by 25Source ↗Scholar ↗
2018

Reinforcement Learning of Depth Stabilization with a Micro Diving Agent

Gerrit Brinkmann, Wallace M. Bessa, Daniel-A. Duecker, Edwin Kreuzer, Eugen Solowjow
ICRA 2018poster

Reinforcement learning (RL) allows robots to solve control tasks through interaction with their environment. In this paper we study a model-based value-function RL approach, which is suitable for computationally limited robots and light embedded systems. We develop a diving agent, which uses the RL…

Cited by 6Source ↗Scholar ↗
2017

Design and Adaptive Depth Control of a Micro Diving Agent

Wallace Moreira Bessa, Edwin Kreuzer, Johann Lange, Marc-André Pick, Eugen Solowjow
RA-L 2017

This letter presents the depth control of an autonomous micro diving agent called autonomous diving agent (ADA). ADA consists of off-the-shelf components and features open-source hardware and firmware. It can be deployed as a testbed for depth controllers, as well as a mobile sensor platform for res

Cited by 31Source ↗Scholar ↗
2017

Low-cost monocular localization with active markers for micro autonomous underwater vehicles

Austin D. Buchan, Eugen Solowjow, Daniel-André Duecker, Edwin Kreuzer
IROS 2017poster

We present an approach for estimating the absolute poses of a swarm Micro Autonomous Underwater Vehicles (μAUVs) by decomposing the problem into few absolute position estimations and many relative pose estimations. As power constraints are critical to small mobile robots, we develop an extension of…

Cited by 12Source ↗Scholar ↗
2016

Towards a hyperbolic acoustic one-way localization system for underwater swarm robotics

Andreas Rene Geist, Axel Hackbarth, Edwin Kreuzer, Viktor Rausch, Michael D. Sankur, Eugen Solowjow
ICRA 2016

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

Cited by 14Source ↗Scholar ↗