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We designed and constructed an A-sized base autonomous underwater vehicle (AUV), augmented with a stack of modular and extendable hardware and software, including autonomy, navigation, control and high fidelity simulation capabilities…
This paper presents a scalable acoustic navigation approach for the unified command, control and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually, by…
While significant research progress has been made in robot learning for control, unique challenges arise when simultaneously co-optimizing morphology. Existing work has typically been tailored for particular environments or representations.…
Despite significant advancements in the research of aquatic-aerial robots, existing configurations struggle to efficiently perform underwater, surface, and aerial movement simultaneously. In this paper, we propose a novel multimodal surfing…
This paper introduces a compound vision system that enables robots to localize people up to 15m away using a cheap camera. And, it proposes a robust navigation stack that combines Deep Reinforcement Learning (DRL) and a probabilistic…
This work presents a vision-based underwater exploration and inspection autonomy solution integrated into Ariel, a custom vision-driven underwater robot. Ariel carries a $5$ camera and IMU based sensing suite, enabling a refraction-aware…
Mobile robots have shown immense potential and are expected to be widely used in the service industry. The importance of automatic navigation and voice cloning cannot be overstated as they enable functional robots to provide high-quality…
This work explores the application of nonlinear oscillators coupled by electric field in water for collective tasks in underwater robotics. Such coupled oscillators operate in clear and colloidal (mud, bottom silt) water and represent a…
Simulation tools are essential for robotics research, especially for those domains in which safety is crucial, such as Human-Robot Collaboration (HRC). However, it is challenging to simulate human behaviors, and existing robotics simulators…
Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…
Vision-language navigation (VLN) has emerged as a promising paradigm, enabling mobile robots to perform zero-shot inference and execute tasks without specific pre-programming. However, current systems often separate map exploration and path…
When academic researchers develop and validate autonomous driving algorithms, there is a challenge in balancing high-performance capabilities with the cost and complexity of the vehicle platform. Much of today's research on autonomous…
As underwater human activities are increasing, the demand for underwater communication service presents a significant challenge. Existing underwater diver communication methods face hurdles due to inherent disadvantages and complex…
In recent years, Autonomous Underwater Vehicle (UAV) research and development at Bandung Institute of Technology in Indonesia has achieved the testing stage in the field. This testing was still being classified as the early testing, since…
Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…
The increasing complexity of underwater robotic systems has led to a surge in simulation platforms designed to support perception, planning, and control tasks in marine environments. However, selecting the most appropriate underwater…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
Improved designs for Autonomous Underwater Vehicles (AUV) are becoming increasingly important due to their utility in academic and industrial applications. However, a majority of such testing and design is carried out under conditions that…
Bio-inspired vehicles are currently leading the way in the quest to produce a vehicle capable of flight and underwater navigation. However, a fully functional vehicle has not yet been realized. We present the first fully functional vehicle…
This paper introduces an underwater multi-robot platform, named Aucamp, characterized by cost-effective monocular-camera-based sensing, distributed protocol and robust orientation control for localization. We utilize the clarity feature to…