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Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
A few studies in the maritime domain utilize co-design in ship design workshops, however, none of them addresses a full picture of how co-design can make changes in simulation-based maritime education. In this paper, we reflect how…
Aquaculture is a big marine industry and contributes to securing global food demands. Underwater vehicles such as remotely operated vehicles (ROVs) are commonly used for inspection, maintenance, and intervention (IMR) tasks in fish farms.…
Testing marine robotics systems in controlled environments before field tests is challenging, especially when acoustic-based sensors and control surfaces only function properly underwater. Deploying robots in indoor tanks and pools often…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
Deep-sea robot operations demand a high level of safety, efficiency and reliability. As a consequence, measures within the development stage have to be implemented to extensively evaluate and benchmark system components ranging from data…
The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simulations offer a cost-effective alternative and eliminate…
In the application of underwater creature study, comparing with propeller-powered ROVs and servo motor actuated robotic fish, novel biomimetic fish robot designs with soft actuation structure could interact with aquatic creatures closely…
Safety is one of the most critical factors in robotics, especially when robots have to collaborate with people in a~shared environment. Testing the physical systems, however, must focus on much more than just software. One of the common…
Reinforcement Learning (RL) is a promising solution, allowing Unmanned Underwater Vehicles (UUVs) to learn optimal behaviors through trial and error. However, existing simulators lack efficient integration with RL methods, limiting training…
A common workflow for many engineering design problems requires the evaluation of the design system to be investigated under a range of conditions. These conditions usually involve a combination of several parameters. To perform a complete…
Acoustic sonar imaging systems are widely used for underwater surveillance in both civilian and military sectors. However, acquiring high-quality sonar datasets for training Artificial Intelligence (AI) models confronts challenges such as…
We introduce BenchBot, a novel software suite for benchmarking the performance of robotics research across both photorealistic 3D simulations and real robot platforms. BenchBot provides a simple interface to the sensorimotor capabilities of…
This work presents the MarineGym, a high-performance reinforcement learning (RL) platform specifically designed for underwater robotics. It aims to address the limitations of existing underwater simulation environments in terms of RL…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
With the growing interest in underwater exploration and monitoring, Autonomous Underwater Vehicles (AUVs) have become essential. The recent interest in onboard Deep Learning (DL) has advanced real-time environmental interaction capabilities…
Sonar sensing is fundamental for underwater robotics, but limited by capabilities of AI systems, which need large training datasets. Public data in sonar modalities is lacking. This paper presents the Marine Debris Forward-Looking Sonar…