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Matthew Dunbabin

6 accepted papers

2026

Automated Coral Spawn Monitoring for Reef Restoration: The Coral Spawn and Larvae Imaging Camera System (CSLICS)

Dorian Tsai, Christopher A. Brunner, Riki Lamont, F. Mikaela Nordborg, Andrea Severati, Java Terry +4
ICRA 2026poster

Coral aquaculture for reef restoration requires accurate and continuous spawn counting for resource distribution and larval health monitoring, but current methods are labor-intensive and represent a critical bottleneck in the coral production pipeline. We propose the Coral Spawn and Larvae Imaging C…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Addressing COLREG Rule 2b: COLREG and Risk Aware Manoeuvre-Based Predictive Planning

Jordan Gleeson, Matthew Dunbabin, Jason J. Ford
RA-L 2025

This paper presents a novel collision avoidance method for Autonomous Surface Vessels (ASVs) that considers nuanced risk and COLREG profiles to determine an optimal safe manoeuvre. The COLREGs are a set of collision regulations defined by the International Maritime Organisation by which all complian

Cited by 0Source ↗Scholar ↗
2020

A Feature-Based Underwater Path Planning Approach using Multiple Perspective Prior Maps

Daniel Cagara, Matthew Dunbabin, Paul Rigby
ICRA 2020poster

This paper presents a path planning methodology which enables Autonomous Underwater Vehicles (AUVs) to navigate in shallow complex environments such as coral reefs. The approach leverages prior information from an aerial photographic survey, and derived bathymetric information of the corresponding a…

Cited by 1Source ↗Scholar ↗
2019

Improving Underwater Obstacle Detection using Semantic Image Segmentation

Bilal Arain, Chris McCool, Paul Rigby, Daniel Cagara, Matthew Dunbabin
ICRA 2019poster

This paper presents two novel approaches for improving image-based underwater obstacle detection by combining sparse stereo point clouds with monocular semantic image segmentation. Generating accurate image-based obstacle maps in cluttered underwater environments, such as coral reefs, are essential…

Cited by 37Source ↗Scholar ↗
2015

Predictive motion planning for AUVs subject to strong time-varying currents and forecasting uncertainties

Van T. Huynh, Matthew Dunbabin, Ryan N. Smith
ICRA 2015poster

This paper presents a novel path planning method for minimizing the energy consumption of an autonomous underwater vehicle subjected to time varying ocean disturbances and forecast model uncertainty. The algorithm determines 4-Dimensional path candidates using Nonlinear Robust Model Predictive Contr…

Cited by 67Source ↗Scholar ↗