dartmouth robotics lab

overview

at dartmouth i worked on robot control, navigation, and localization for an underwater vehicle with a manipulator arm. the system had to move in a constrained underwater workspace, find and handle blocks, and support structure assembly tasks.

focus areas

• control and motion for a tethered platform in water
• navigation and localization so the robot could operate repeatably in the tank environment
• integration toward block gathering, placement, and assembly behaviors

publication