8 accepted papers
Aquaculture is a marine industry experiencing significant growth and an important seafood provider. Underwater vehicles such as remotely operated vehicles (ROVs) are commonly used for inspection and maintenance of the net pens where the fish are grown. These net pens are flexible structures whose po…
Autonomous field robots operating in unstructured environments require robust perception to ensure safe and reliable operations. Recent advances in monocular depth estimation have demonstrated the potential of low-cost cameras as depth sensors; however, their adoption in field robotics remains limit…
C-Ray is an amphibious robot that is capable of swimming in water and crawling on land using its undulating fins, enabling operations in a wide range of environments. The robot can be modeled as a hybrid dynamical system whose dynamics and propulsion change when the robot transitions between water a
Underwater navigation is an area of increasing research interest due to its fundamental complexity and industrial applications. However, due to convenience and current theoretical understanding, the vast majority of underwater platforms utilize thrusters, while other forms of propulsion, such as und
Robust underwater motion planning of autonomous underwater vehicles (AUVs) in dynamic cluttered environments is a problem that has yet to be addressed in depth. Due to advances in technology and computational capacity, AUVs are expected to operate safely and autonomously in increasingly challenging…
Motion planning for autonomous active perception in cluttered environments remains a challenging problem, requiring real-time solutions that both maximize safety and achieve a desired behavior. In dynamic underwater environments, such as in aquaculture operations, the robots are additionally expecte
Autonomous operation in underwater environ-ments is, arguably, one of the most complex domains. It requires safe operations under the presence of unpredictable surge, currents, uncertainty, and dynamic obstacles that challenges to the highest degree real-time motion planning; the primary focus of th…
This letter presents a control system that enables an underwater snake robot to converge towards and follow a straight path in the presence of constant irrotational ocean currents. The robot is assumed to be neutrally buoyant, fully submerged and moving in a virtual plane with a sinusoidal gait and