23 Sep 2025

Using the Robot Operating System for Uncrewed Surface Vehicle Navigation to Avoid Beaching

Abstract: Our research explores the use of the Robotic Operating System (ROS) to autonomously navigate an uncrewed surface vehicle (USV). As a proof of concept, we set up a simulated world and spawned a virtual Wave Adaptive Modular Vehicle (WAM-V). We used the robot_localization package to localize the WAM-V in the virtual world and used move_base for the navigation of waypoints. The move_base package used both costmaps and path planners to reach its intended goal while simultaneously avoiding sub-merged shallow-water obstacles. Shallow-water obstacles are obstacles at a depth that is less than a user-defined value (1 meter in this case). Finally, we investigated using vizanti as a mission planner. This report provides a detailed explanation of the parameters that were modified to demonstrate a successful proof of concept.

9 Dec 2022

Demonstration of an Autonomous Sailing Vessel for Monitoring Nearshore and Offshore Marine Environments

Abstract: This technical note describes the US Army Engineer Research and Development Center (ERDC) application of an autonomous sailing vessel (ASV) to monitor water quality near underwater unexploded ordnance in Vieques, Puerto Rico, and the Center for Acoustics Research and Education, University of New Hampshire, application of the ASV to monitor the ocean soundscape along the Atlantic Outer Continental Shelf.