AUV-IITB | IEEE OES | UT2021

Official Submission by AUV-IITB for IEEE OES Underwater Technology 2021. This video summarises all the research and development that we have done in the last decade in the field of Underwater Robotics. We started with the development of an AUV "Matsya" (Sanskrit for Fish) in 2011, and since then, we have improved a lot. We are now also working on various research topics simultaneous with the AUV development, currently on its 6th iteration. Our AUV is capable of localising itself, performing realistic naval mission using visual, inertial, acoustic and depth sensors, thrusters and pneumatics for actuations like gripping objects, shooting torpedos, dropping the markers etc.
References:
Underwater GPS Image: Waterlinked Underwater GPS G2 (waterlinked.co...)
SLAM - DSO: Jakob Engel, Vladlen Koltun, Daniel Cremers, July 2016 ( • DSO: Direct Sparse Odo... )
LQR Controller: Takamasa Horibe (github.com/Tak...)