Raymond Turrisi — 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

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2024

Decentralized Linear Convoying for Underactuated Surface Craft with Partial State Coupling

Raymond Turrisi, Michael Benjamin

IROS 2024poster

This work introduces a novel decentralized algorithm and control law for stable linear convoying using a layered control approach. This algorithm was implemented in MOOS-IvP, using an abstraction layer that models a virtual system decoupled from the system’s actual dynamics. This makes the algorithm…

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