Scalable underwater assembly with reconfigurable visual fiducials
Samuel Lensgraf,Ankita Sarkar,Adithya Pediredla,Devin Balkcom,Alberto Quattrini Li,Samuel Lensgraf,Ankita Sarkar,Adithya Pediredla,Devin Balkcom,Alberto Quattrini Li
We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the infrastructure’s positional accuracy. Our uncertainty model can be combined with the noise characteristics from multiple sensors. For the task planning problem,...
