A visually guided swimming robot

Gregory Dudek; Michael Jenkin; Chris Prahacs; Andrew Hogue; Junaed Sattar; Philippe Giguere; Andrew German; Hui Liu; Shane Saunderson; Arlene Ripsman; Saul Simhon; Luz Abril Torres; Evangelos Milios; Pifu Zhang; Ioannis Rekletis

doi:10.1109/IROS.2005.1545231

A visually guided swimming robot

Gregory Dudek, Michael Jenkin, Chris Prahacs, Andrew Hogue, Junaed Sattar, Philippe Giguere, Andrew German, Hui Liu, Shane Saunderson, Arlene Ripsman, Saul Simhon, Luz Abril Torres, Evangelos Milios, Pifu Zhang, Ioannis Rekletis

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

122 Scopus citations

Abstract

We describe recent results obtained with AQUA, a mobile robot capable of swimming, walking and amphibious operation. Designed to rely primarily on visual sensors, the AQUA robot uses vision to navigate underwater using servobased guidance, and also to obtain high-resolution range scans of its local environment. This paper describes some of the pragmatic and logistic obstacles encountered, and provides an overview of some of the basic capabilities of the vehicle and its associated sensors. Moreover, this paper presents the first ever amphibious transition from walking to swimming.

Original language	English (US)
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	3604-3609
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545231
State	Published - 2005

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

Aquatic robot
Autonomous robot
Robotic sensing

Publisher link

10.1109/IROS.2005.1545231

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Dudek, G., Jenkin, M., Prahacs, C., Hogue, A., Sattar, J., Giguere, P., German, A., Liu, H., Saunderson, S., Ripsman, A., Simhon, S., Torres, L. A., Milios, E., Zhang, P., & Rekletis, I. (2005). A visually guided swimming robot. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3604-3609). Article 1545231 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545231

A visually guided swimming robot. / Dudek, Gregory; Jenkin, Michael; Prahacs, Chris et al.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 3604-3609 1545231 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dudek, G, Jenkin, M, Prahacs, C, Hogue, A, Sattar, J, Giguere, P, German, A, Liu, H, Saunderson, S, Ripsman, A, Simhon, S, Torres, LA, Milios, E, Zhang, P & Rekletis, I 2005, A visually guided swimming robot. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545231, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, IEEE Computer Society, pp. 3604-3609. https://doi.org/10.1109/IROS.2005.1545231

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abstract = "We describe recent results obtained with AQUA, a mobile robot capable of swimming, walking and amphibious operation. Designed to rely primarily on visual sensors, the AQUA robot uses vision to navigate underwater using servobased guidance, and also to obtain high-resolution range scans of its local environment. This paper describes some of the pragmatic and logistic obstacles encountered, and provides an overview of some of the basic capabilities of the vehicle and its associated sensors. Moreover, this paper presents the first ever amphibious transition from walking to swimming.",

keywords = "Aquatic robot, Autonomous robot, Robotic sensing",

author = "Gregory Dudek and Michael Jenkin and Chris Prahacs and Andrew Hogue and Junaed Sattar and Philippe Giguere and Andrew German and Hui Liu and Shane Saunderson and Arlene Ripsman and Saul Simhon and Torres, {Luz Abril} and Evangelos Milios and Pifu Zhang and Ioannis Rekletis",

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AU - Liu, Hui

AU - Saunderson, Shane

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AU - Simhon, Saul

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A visually guided swimming robot

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