Power-On-and-Go Capabilities for a Low-Cost Modular Autonomous Underwater Vehicle [talk]

Conference

Robotics: Science and Systems (RSS) 2020 Workshop on Power On and Go Robots - July 13, 2020

Speakers/authors

Chelsey Edge (Ph.D. student), Sadman Sakib Enan (Ph.D. student), Michael Fulton (Ph.D. student), Jungseok Hong (Ph.D. student), Junaed Sattar (assistant professor)

Abstract

We present LOCO, an autonomous underwater robotic vehicle designed for human-robot collaborative tasks for marine and aquatic environments, and its vision-based human-interface design and systems architecture contributing towards single-user operations. Specifically, we describe the operational characteristics of LOCO in assisting human divers, particularly those engaged in conservation biology, to perform endangered species preservation. LOCO is an open-source, modular platform capable of vision-assisted autonomous behavior and human interaction. We describe how vision-guided autonomy, gesture-based human-to-robot languages, and robot communication via motion have been used in a number of field trials in various waterbodies including lakes and open oceans. This paper provides an insight into the system design, computing, intelligent behaviors, and human interaction capabilities of LOCO towards achieving power on and go behavior in underwater human collaborative missions.

Link to full paper

Power-On-and-Go Capabilities for a Low-Cost Modular Autonomous Underwater Vehicle

Keywords

underwater robotics