Underwater Robot Planning with Imaging Sonar
We aim to develop an autonomous underwater system that can be aware of information and uncertainty.
Research
Modular UUV Design
We aim to design an open-sourced modular UUV that can be easily used for validation and verification.
The "Bathy-drone" for Underwater Survey, Mapping and Inspection
We aim to create and test a system capable of measuring underwater areas and features in areas highly prone to change, including but not limited to coastal areas, tidal zones, ports, canals or water bodies that have an immediate impact on the hydrologic health of an ecosystem. The “bathydrone” is an unpowered boat equipped with a down-scan and side-scan sonar transducer mounted on the hull, towed by a medium-sized UAV.
Uncertainty-Aware Trajectory Planning for Multi-Agent Target Tracking
We aim to develop an uncertainty-aware guidance law for a multi-agent system to track multiple targets.
Magnetic Navigation: Information-driven Path Planning for Localization
Use magenetic field map and magenetometer for localization when GPS is not available.
Information Fusion for Automatic Target Acquisition using Heterogeneous Sensors
How can we update our information when different sensors give conflicting information?