5 accepted papers
Aquatic robots require an accurate and reliable localization system to navigate autonomously and perform practical missions. Kalman filters (KFs) and their variants are typically used in aquatic robots to combine sensor data. The two critical drawbacks of KFs are the requirement for skilled tuning o…
Confined and cluttered aquatic environments present a number of significant challenges with respect to inspection by robotic platforms, including localisation and communications. Some of these can be mitigated by using collaborative heterogeneous multi-robot teams. An important element of such a sys…
A long short-term memory neural network is used to provide a system model that captures the temporal-dynamics of a holonomic, fully-actuated aquatic surface vehicle. As is true in many fields, new developments in robotics often are made in simulation first before being applied to real systems. To si…
In recent years, the inspection of extreme environments using mobile robots has gained traction, as robots are able to mitigate the risk placed on humans and at times achieve what humans are unable to. In some scenarios, the robot is required to operate in cluttered environments with highly restrict…
This work presents a practical method of obtaining a dynamic system model for small omnidirectional aquatic vehicles. The models produced can be used to improve vehicle localisation, aid in the design or tuning of control systems and facilitate the development of simulated environments. The use of a…