Field robotics

Simulated Aquatic Vehicle for Cave Exploration

A simulated underwater autonomy stack for safe cave exploration using mapping, planning, control, and runtime safety constraints.

Category
Field robotics
Role
Designed an end-to-end autonomy concept integrating perception, planning, control, and safety monitoring.
Technologies
ROS2PLUMEStonefishSLAM3D A*Frontier DetectionSTL Constraints

System architecture

The stack followed a sense-plan-act structure with a supervisory safety layer: multibeam sonar, IMU, DVL, and pressure sensing; custom SLAM for 3D occupancy maps; frontier-based exploration; 3D A* path planning; and runtime STL constraints.

Autonomy challenge

The cave environment motivates autonomy that can navigate unknown, constrained, and safety-critical spaces without relying on continuous human control.