Motion-Planning for Autonomously Mapping Shipwrecks

This project is a part of International Computer Engineering Experience (ICEX). ICEX 2016 is a collaboration between Harvey Mudd College, Cal Poly - San Luis Obispo, and the University of Malta. This project focuses on intelligently searching for shipwrecks, planning paths around shipwrecks, and constructing models of the shipwrecks from sensor data. For more information about the general project, check out our blog. This research project has resulted in two publications, including one in the International Conference on Robotics and Automation (ICRA) which had a 41% acceptance rate.

I focused on sensor-based motion planning for an AUV. The goal is to plan the paths to collect optimal data for photogrammetric reconstruction of marine archaeological sites. More information to come following publication.

This video provides a brief overview of this project and results:

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