2025
Hybrid State Estimation and Mode Identification of an Amphibious Robot
Herman B. Amundsen, Supun Randeni, Russell C. Bingham, Carles Civit, B. Pietro Filardo, Martin Føre +2
ICRA 2025
C-Ray is an amphibious robot that is capable of swimming in water and crawling on land using its undulating fins, enabling operations in a wide range of environments. The robot can be modeled as a hybrid dynamical system whose dynamics and propulsion change when the robot transitions between water a