4 accepted papers
In this letter, we present a distributed pressure sensory system, inspired by the lateral line found in fish, for estimating hydrodynamic forces acting on an autonomous underwater vehicle. By canceling these forces using the vehicle control system, the dynamics of the vehicle can be decoupled from t
This letter demonstrates the feasibility of near realtime, plenoptic-inertial navigation on a low-cost central processing unit (CPU). To enable real-time operation, a standard plenoptic camera was modeled as a system of stereo cameras and triangulation was used to estimate its pose from a minimal se
This investigation takes the first step toward characterizing autonomous underwater vehicle (AUV) behavior trying to perform station keeping using bioinspired thrusters under the influence of disturbances with multiple amplitudes and frequencies. We describe the similarities between periodic disturb
The lateral line sensory system found in fish and other aquatic organisms is believed to aid in various behavioral activities such as station keeping and wall detection. This paper presents results for an artificial lateral line designed for use in an underwater vehicle. Algorithms for leveraging th…