RoboWhaler

Sponsored by Brunswick/Mercury Marine

Mercury Marine has provided a developer interface to the AUV Lab that allows us to control the Boston Whaler R/V Philos with MOOS-IvP. Using this interface, we have demonstrated that the vehicle can autonomously travel to a waypoint, follow another vehicle, and follow COLREGS. In 2019, we demonstrated obstacle avoidance and sensor fusion with in-water tests on the Charles.


Figure 1: The RoboWhaler October 30th, 2019 prior to test runs on the Charles River.


Figure 2: The RoboWhaler avoiding an obstacle detected on Lidar.


Figure 3: The RoboWhaler on the Charles River, October 2018.

Principal Investigators:

  • Prof. Michael Triantafyllou (PI)
  • Mike Defilippo
  • Mike Sacarny
  • Dr. Michael Benjamin

Prior Principal Investigators:

  • Dr. Paul Robinette
  • Dr. Michael Novitzky

Students:

  • Greg Nannig