Fabian Steinmetz — accepted AI-conference papers

2025

ASV-Aided AUV Navigation: A Field Study on Nonlinear Estimation for Localization of Low-Cost, Scalable Systems

Raymond Turrisi, Daniel A Duecker, John Morrison, Fabian Steinmetz, Michael R. Benjamin

IROS 2025

This work investigates the use of multiple Autonomous Surface Vehicles (ASVs) as Communication/Navigation Aids (CNAs) to enhance the navigation and state estimation of an Autonomous Underwater Vehicle (AUV). Our approach builds on recent advancements in low-cost sensors and platforms, which enable n

Cited by 0 Source ↗Scholar ↗

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 4 Source ↗Scholar ↗