Publications Pavlab

2024 (2 items)

  1. Tyler Paine, Michael Benjamin, A Model for Multi-Agent Autonomy That Uses Opinion Dynamics and Multi-Objective Behavior Optimization, International Conference on Robotics and Automation (ICRA), May, 2024. (bibtex)
  2. Nicholas Rober, Karan Mahesh, Tyler Paine, Max Greene, Steven Lee, Sildomar Monteiro, Michael Benjamin, Jonathan How, Online Data-Driven Safety Certification for Systems Subject to Unknown Disturbances, International Conference on Robotics and Automation (ICRA), May, 2024. (bibtex)

2023 (5 items)

  1. Shailesh Nirgudkar, Michael DeFilippo, Michael Sacarny, Michael Benjamin, Paul Robinette, MassMIND: Massachusetts Maritime INfrared Dataset, The International Journal of Robotics Research, (42)1-2, 21--32, 2023. (bibtex)
  2. Nicholas Rober, Karan Mahesh, Tyler M. Paine, Max L. Greene, Steven Lee, Sildomar T. Monteiro, Michael R. Benjamin, Jonathan P. How, Online Data-Driven Safety Certification for Systems Subject to Unknown Disturbances, 2023. (bibtex)
  3. Ching-Tang Hung, Michael Sacarny, Katrina Zarrella-Smith, Michael R. Benjamain, Autonomous sailboat design to track acoustically tagged fish, Journal of Ocean Engineering and Science, Under Review, 2023. (bibtex)
  4. Tyler Paine, Michael Benjamin, An Ensemble of Online Estimation Methods for One Degree-of-freedom models of Unmanned Surface Vehicles; Applied Theory and Preliminary Field Results with Eight Vehicles, International Conference on Intelligent Robots and Systems (IROS), October, 2023. (bibtex)
  5. Nikolai Gershfeld, Tyler Paine, Michael Benjamin, Adaptive and Collaborative Bathymetric Channel-Finding Approach for Multiple Autonomous Marine Vehicles, The IEEE Robotics and Automation Letters, (8)7, 4028-4035, 2023. (bibtex)

2022 (6 items)

  1. Kristen Railey Kita, Supun Randeni, Dino DiBiaso, Henrik Schmidt, Passive acoustic tracking of an unmanned underwater vehicle using bearing-Doppler-speed measurements, The Journal of the Acoustical Society of America, (151)2, 1311-1324, 02, 2022. (bibtex)
  2. Supun Randeni, Michael Sacarny, Michael Benjamin, Michael Triantafyllou, Morpheus: An A-sized AUV with morphing fins and algorithms for agile maneuvering, 2022. (bibtex)
  3. Supun Randeni, Toby Schneider, EeShan Bhatt, Oscar A. V\'{i}quez, Henrik Schmidt, A high-resolution {AUV} navigation framework with integrated communication and tracking for under-ice deployments, Journal of Field Robotics, 2022. (bibtex)
  4. Nicholas Craig Evans, A Practical Search with Voronoi Distributed Autonomous Marine Swarms, Massachusetts Institute of Technology, September, 2022. (bibtex)
  5. Nikolai Gershfeld, Adaptive Collaborative Channel Finding Approaches for Autonomous Marine Vehicles, Massachusetts Institute of Technology, May, 2022. (bibtex)
  6. Supun Randeni, Emily M. Mellin, Michael Sacarny, Skyler Cheung, Michael Benjamin, Michael Triantafyllou, Bioinspired morphing fins to provide optimal maneuverability, stability, and response to turbulence in rigid hull AUVs, Bioinspiration & Biomimetics, (17)3, April, 2022. (bibtex)

2021 (6 items)

  1. Michael Benjamin, Tyler Paine, Supun Randeni, Autonomy Algorithms for Stable Dynamic Linear Convoying of Autonomous Marine Vehicles, OCEANS 2021 MTS/IEEE, October, 2021. (bibtex)
  2. Michael DeFilippo, Michael Sacarny, Paul Robinette, RoboWhaler: A Robotic Vessel for Marine Autonomy and Dataset Collection, OCEANS 2021 MTS/IEEE, October, 2021. (bibtex)
  3. Conlan Cesar, Benjamin Whetton, Michael DeFilippo, Michael Benjamin, Michael Sacarny, Scott Reed, Andrea Munafo, Coordinating Multiple Autonomies to Improve Mission Performance, OCEANS 2021 MTS/IEEE, October, 2021. (bibtex)
  4. Blake Cole, Michael Benjamin, Supun Randeni, AIS-Based Collision Avoidance in MOOS-IvP using a Geodetic Unscented Kalman Filter, OCEANS 2021: San Diego - Porto, October, 2021. (bibtex)
  5. Toby Schneider, Supun Randeni, Henrik Schmidt, Fast, Cheap and Good: Development of a high performance communications and navigation system for High Latitude {AUV} deployments using a Virtual Ocean, Antarctic and Southern Ocean Forum 2021, October, 2021. (bibtex)
  6. Supun Randeni, Emily Mellin, Michael Sacarny, Skyler Cheung, Michael Benjamin, Michael Triantafyllou, Bioinspired Dorsal Fins to Provide Optimal Maneuverability, Stability, and Response to Turbulence in Rigid Hull AUVs, Submitted and Under Review, 2021. (bibtex)

2020 (3 items)

  1. Toby Schneider, Henrik Schmidt, Supun Randeni, Self-Adapting Under-Ice Integrated Communications and Navigation Network, 2020 Underwater Communications and Networking Conference (UComms), 2020. (bibtex)
  2. Supun Randeni, Erin Fischell, Henrik Schmidt, An {AUV} dynamic model, based on the conservation of energy, for underwater navigation aiding, IEEE Journal of Oceanic Engineering (Under Review), 2020. (bibtex)
  3. Supun Randeni, Toby Schneider, Henrik Schmidt, Construction of a high-resolution under-ice AUV navigation framework using a multidisciplinary virtual environment, 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), 1--7, 2020. (bibtex)

2019 (11 items)

  1. Paul Robinette, Michael Sacarny, Michael Novitzky, Michael R. Benjamin, Michael DeFilippo, Robot Vessels Versus Centuries of Maritime Tradition: How Should Robots React to Authorities and Emergencies on the Water?, Proceedings of the Workshop The Dark Side of Human-Robot Interaction: Ethical Considerations and Community Guidelines for the Field of HRI ACM/IEEE International Conference on Human-Robot Interaction, ACM/IEEE, Daegu, South Korea, March, 2019. (bibtex)
  2. Michael R. Benjamin, Michael Defilippo, Paul Robinette, Michael Novitzky, Obstacle Avoidance Using Multi-Objective Optimization and a Dynamic Obstacle Manager, IEEE Journal of Oceanic Engineering, April, 2019. (bibtex)
  3. Paul Robinette, Michael Novitzky, Michael R. Benjamin, Caileigh Fitzgerald, Henrik Schmidt, Exploring Human-Robot Trust During Teaming in a Real-World Testbed, (Companion of the 2019 ACM/IEEE International Conference on Human-Robot Interaction, March, 2019. (bibtex)
  4. Paul Robinette, Michael Sacarny, Michael DeFilippo, Michael Novitzky, Michael R. Benjamin, Sensor Evaluation for Autonomous Surface Vehicles in Inland Waterways, OCEANS 2019 MTS/IEEE, June, 2019. (bibtex)
  5. Paul Robinette, Michael Sacarny, Michael DeFilippo, Michael Novitzky, Michael R. Benjamin, Dealing With the Novelty of Robots: observations of Interactions with an Autonomous Surface Vehicle on a Recreational Waterway, Proceedings of the Workshop Dangerous HRI: Testing Real-World Robots has Real-World Consequences ACM/IEEE International Conference on Human-Robot Interaction, ACM/IEEE, Daegu, South Korea, March, 2019. (bibtex)
  6. Michael Novitzky, Caileigh Fitzgerald, Paul Robinette, Michael R. Benjamin, Henrik Schmidt, Updated: Virtual Reality for Immersive Simulated Experiments of Human-Robot Interactions in the Marine Environment, Proceedings of the Workshop Virtual, Augmented, and Mixed Reality for Human-Robot Interaction ACM/IEEE International Conference on Human-Robot Interaction, ACM/IEEE, Daegu, South Korea, March, 2019. (bibtex)
  7. Michael Novitzky, Paul Robinette, Caileigh Fitzgerald, Hugh R. R Dougherty, Michael Benjamin, Henrik Schmidt, Issues and Mitigation Strategies for Deploying Human-Robot Experiments on the Water for Competitive Games in an Academic Environment, Proceedings of the Workshop Dangerous HRI: Testing Real-World Robots has Real-World Consequences ACM/IEEE International Conference on Human-Robot Interaction, ACM/IEEE, Daegu, South Korea, 2019. (bibtex)
  8. Paul Robinette, Michael Sacarny, Michael DeFilippo, Michael Novitzky, Michael R. Benjamin, Marine Perception Datasets: a Work in Progress, Proceedings of the Workshop Dataset Generation and Benchmarking of SLAM Algorithms for Robotics and VR/AR at the 2019 IEEE International Conference on Robotics and Automation, IEEE, Montreal, Canada, May, 2019. (bibtex)
  9. Michael DeFilippo, Paul Robinette, Michael Sacarny, and Michael R Benjamin, The Remote Explorer IV: An Autonomous Vessel for Oceanographic Research, OCEANS 2019 MTS/IEEE, IEEE, Marseille, France, June, 2019. (bibtex)
  10. Michael Novitzky, Paul Robinette, Michael R. Benjamin, Caileigh Fitzgerald, Henrik Schmidt, Aquaticus: Publicly Available Datasets from a Marine Human-Robot Teaming Testbed, Companion of the 2019 ACM/IEEE International Conference on Human-Robot Interaction, Daegu, South Korea, March, 2019. (bibtex)
  11. Kyle Woerner, Michael R. Benjamin, and Michael Novitzky, John J. Leonard, Quantifying Protocol Evaluation for Autonomous Collision Avoidance, Autonomous Robots, (43)4, 967-991, April, 2019. (bibtex)

2018 (12 items)

  1. Nicholas R. Rypkema, Henrik Schmidt, Formation Control of a Drifting Group of Marine Robotic Vehicles, 633--647, Springer International Publishing, Edited by Roderich Gross, Anreas Kolling and Spring Berman and Emilio Frazzoli and Alcherio Martinoli and Fumitoshi Matsuno and Melvin Gauci, 2018. (bibtex)
  2. Nicholas R. Rypkema, Erin M. Fischell, Henrik Schmidt, Closed-Loop Single-Beacon Passive Acoustic Navigation for Low-Cost Autonomous Underwater Vehicles, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2018. (bibtex)
  3. Nicholas R. Rypkema, Erin Fischell, Henrik Schmidt, Relative Navigation for Command and Control of Multiple Low-Cost Autonomous Underwater Vehicles, The Journal of the Acoustical Society of America, (144)3, 2018. (bibtex)
  4. Supun Randeni, Nicholas R. Rypkema, Erin M. Fischell, Alexander L. Forrest, Michael R. Benjamin, Henrik Schmidt, Implementation of a Hydrodynamic Model-Based Navigation System for a Low-Cost AUV Fleet, IEEE OES Autonomous Underwater Vehicle Symposium, 2018. (bibtex)
  5. Arjun Gupta, Michael Novitzky, Michael R. Benjamin, Learning Autonomous Marine Behaviors in MOOS-IvP, OCEANS 2018 MTS/IEEE Charleston South Carolina, October, 2018. (bibtex)
  6. Adam Michael Campbell, Enabling Tactical Autonomy for Unmanned Surface Vehicles in Defensive Swarm Engagements, Massachusetts Institute of Technology, Cambridge MA, June, 2018. (bibtex)
  7. Michael Novitzky, Paul Robinette, Michael R. Benjamin, Danielle K. Gleason, Caileigh Fitzgerald, Henrik Schmidt, Late Breaking Report: Preliminary Interactions of Human-Robot Trust, Cognitive Load, and Robot Intellig ence Levels in a Competitive Game, Proceedings of the Thirteenth Annual ACM/IEEE International Conference on Human-Robot Interaction, 2018. (bibtex)
  8. Michael Novitzky, Michael R. Benjamin, Paul Robinette, Hugh R. Dougherty, Caileigh Fitzgerald, Henrik Schmidt, Virtual Reality for Immersive Simulated Experiments of Human-Robot Interactions in the Marine Environment, Workshop on Virtual, Augmented and Mixed Reality for Human-Robot Interaction at {HRI 2018}, Chicago, IL, March, 2018. (bibtex)
  9. Michael Novitzky, Paul Robinette, Michael R. Benjamin, Danielle K. Gleason, Caileigh Fitzgerald, Henrik Schmidt, Preliminary Interactions of Human-Robot Trust, Cognitive Load, and Robot Intelligence Levels in a Competitive Game, Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, 203--204, 2018. (bibtex)
  10. Kyle L. Woerner, Michael R. Benjamin, Real-time Automated Evaluation of COLREGS-Constrained Interactions Between Autonomous Surface Vessels and Human Operated Vessels in Collaborative Human-Machine Partnering Missions, OCEANS 2018 MTS/IEEE Kobe Japan, May, 2018. (bibtex)
  11. Michael R. Benjamin, Capturing Velocity Function Plateaus for Efficient Marine Vehicle Collision Avoidance Calculations, OCEANS 2018 MTS/IEEE Kobe Japan, May, 2018. (bibtex)
  12. Paul Robinette, Michael Novitzky, Michael R. Benjamin, Longitudinal Interactions Between Human and Robot Teammates in a Marine Environment, In Workshop on Longitudinal Human-Robot Teaming at {HRI 2018}, Chicago, IL, March, 2018. (bibtex)

2017 (16 items)

  1. Nicholas R. Rypkema, Erin M. Fischell, Henrik Schmidt, One-Way Travel-Time Inverted Ultra-Short Baseline Localization for Low-Cost Autonomous Underwater Vehicles, IEEE International Conference on Robotics and Automation (ICRA), Singapore, May, 2017. (bibtex)
  2. Mary Beth O'Leary, Unlocking Marine Mysteries with Artificial Intelligence, MIT Mechanical Engineering News Media, December, 2017. (bibtex)
  3. Oscar A. Viquez, Deployment of a passive acoustic detection for reactive collision avoidance in autonomous underwater vehicles, Massachusetts Institute of Technology, Cambridge, Massachusetts, 2017. (bibtex)
  4. Erin M. Fischell, Henrik Schmidt, Supervised Machine Learning for Estimation of Target Aspect Angle From Bistatic Acoustic Scattering, IEEE Journal of Oceanic Engineering, (PP)99, 1-11, 2017. (bibtex)
  5. Paul Robinette, Michael Novitzky, Michael R. Benjamin, Trusting a Robot as a User Versus as a Teammate, In Workshop on Morality and Social Trust in Autonomous Robots at {RSS 2017}, Cambridge, MA, July, 2017. (bibtex)
  6. Michael R. Benjamin, {Fast-CPA}: A Layered Caching Algorithm for Rapid Closest Point of Approach Calculations in Marine Collision Avoidance, OCEANS 2017 MTS/IEEE Anchorage, Anchorage, AK, September, 2017. (bibtex)
  7. Kyle L. Woerner, Michael R. Benjamin, Henrik Schmidt, Collaborative Autonomous Multi-vessel Detection, Bounding, and Containment for Maritime Environmental Disasters, OCEANS 2017 MTS/IEEE Anchorage, Anchorage, AK, September, 2017. (bibtex)
  8. Michael R. Benjamin, Autonomous COLREGS Modes and Velocity Functions, MIT Computer Science and Artificial Intelligence Lab, MIT-CSAIL-TR-2017-009, May, 2017. (bibtex)
  9. Kyle L. Woerner, Michael Novitzky, Michael R. Benjamin, John J. Leonard, Legibility and Predictability of Protocol-Constrained Motion: Evaluating Human-Robot Ship Interactions Under {COLREGS} Collision Avoidance Requirements, In Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction at {RSS 2017}, Cambridge, MA, July, 2017. (bibtex)
  10. Michael R. Benjamin, The Interval Programming Model Solution Algorithm Experimentation Tools and Results, MIT Computer Science and Artificial Intelligence Lab, MIT-CSAIL-TR-2017-013, September, 2017. (bibtex)
  11. Nicholas R. Rypkema, Erin M. Fischell, Henrik Schmidt, One-way Travel-Time Inverted Ultra-Short Baseline Localization for Low-Cost Autonomous Underwater Vehicles, 2017 IEEE International Conference on Robotics and Automation (ICRA), May, 2017. (bibtex)
  12. Joseph W. Leavitt, Intent-Aware Collision Avoidance for Autonomous Marine Vehicles, Massachusetts Institute of Technology, June, 2017. (bibtex)
  13. Nicholas R. Rypkema, Erin M. Fischell, Henrik Schmidt, Autonomous Underwater Vehicle Self-Localization Using a Tetrahedral Array and Passive Acoustics, The Journal of the Acoustical Society of America, (141)5, 3924-3924, 2017. (bibtex)
  14. Paul Robinette, Michael Novitzky, Michael R. Benjamin, Trusting a Robot as a User Versus as a Teammate, Workshop on Morality and Social Trust in Autonomous Robots at {RSS 2017}, Cambridge, MA, July, 2017. (bibtex)
  15. Michael Novitzky, Paul Robinette, Danielle K. Gleason, Michael R. Benjamin, A Platform for Studying Human-Machine Teaming on the Water with Physiological Sensors, Workshop on Human-Centered Robotics: Interaction, Physiological Integration and Autonomy at {RSS 2017}, Cambridge, MA, July, 2017. (bibtex)
  16. Michael Novitzky, Paul Robinette, Danielle Gleason, Michael R. Benjamin, A Platform for Studying Human-Machine Teaming on the Water with Physiological Sensors, In Workshop on Human-Centered Robotics: Interaction, Physiological Integration and Autonomy at {RSS 2017}, Cambridge, MA, July, 2017. (bibtex)

2016 (10 items)

  1. Arthur Anderson, Erin Fischell, Thom Howe, Tom Miller, Arturo Parrales-Salinas, Nick Rypkema, David Barrett, Michael Benjamin, Alex Brennen, Michael DeFillipo, John J. Leonard, Liam Paull, Henrik Schmidt, Nick Wang, Alon Yaari, An Overview of MIT-Olin's Approach in the AUVSI RobotX Competition, 61--80, Springer International Publishing, Edited by David S. Wettergreen and Timothy D. Barfoot, 2016. (bibtex)
  2. Erin M. Fischell, Nicholas R. Rypkema, Henrik Schmidt, Relative Acoustic Navigation for Sensing with Low-Cost AUVs, ICRA 2016 Workshop on Marine Robot Localization and Navigation, Stockholm, Sweden, May, 2016. (bibtex)
  3. Oscar A. Viquez, Erin M. Fischell, Nicholas R. Rypkema, Henrik Schmidt, Design of a General Autonomy Payload for Low-Cost AUV, 2016 IEEE/OES Autonomous Underwater Vehicles (AUV), 151-155, November, 2016. (bibtex)
  4. Nicholas R. Rypkema, Erin M. Fischell, Henrik Schmidt, Relative Acoustic Navigation for Sensing with Low-Cost AUVs, IEEE ICRA Workshop on Marine Robot Localization and Navigation, Stockholm, Sweden, May, 2016. (bibtex)
  5. Henrik Schmidt, Michael R. Benjamin, Stephanie M. Petillo, Raymond Lum, Nested Autonomy for Distributed Ocean Sensing, Springer Handbook of Ocean Engineering, Springer, Edited by Manhar R. Dhanak, Nikolas I. Xiros, 459--480, 2016. (bibtex)
  6. Michael Novitzky, Hugh Dougherty, Michael Benjamin, A Human-Robot Speech Interface for an Autonomous Marine Teammate, 513--520, Springer International Publishing, Edited by Arvin Agah and John-John Cabibihan and Ayanna M. Howard and Miguel A. Salichs and Hongsheng He, 2016. (bibtex)
  7. Henrik Schmidt, Toby Schneider, Acoustic Communication and Navigation in the New Arctic - A Model Case for Environmental Adaptation, Underwater Communications and Networking Conference (UComms), 2016 IEEE Third, Lerici, Italy, August, 2016. (bibtex)
  8. Kyle L. Woerner, Multi-Contact Protocol-Constrained Collision Avoidance for Autonomous Marine Vehicles, Massachusetts Institute of Technology, June, 2016. (bibtex)
  9. Erin M. Fischell, Henrik Schmidt, AUV Behaviors for Collection of Bistatic and Multistatic Acoustic Scattering Data from Seabed Targets, 2016 IEEE International Conference on Robotics and Automation (ICRA), 2645-2650, May, 2016. (bibtex)
  10. Nicholas R. Rypkema, Henrik Schmidt, Formation Control of a Drifting Group of Marine Robotic Vehicles, Distributed Autonomous Robotic Systems (DARS), London, UK, May, 2016. (bibtex)

2015 (6 items)

  1. Erin M. Fischell, Henrik Schmidt, Classification of Underwater Targets from Autonomous Underwater Vehicle Sampled Bistatic Acoustic Scattered Fields, The Journal of the Acoustical Society of America, (138)6, 3773--3784, 2015. (bibtex)
  2. Erin Marie Fischell, Characterization of underwater target geometry from autonomous underwater vehicle sampling of bistatic acoustic scattered fields, Massachusetts Institute of Technology, Cambridge, Massachusetts, 2015. (bibtex)
  3. Nicholas Rahardiyan Rypkema, Distributed Autonomy and Formation Control of a Drifting Swarm of Autonomous Underwater Vehicles, Massachusetts Institute of Technology and Woods Hole Oceanographic Institution Joint Program, Cambridge, Massachusetts, September, 2015. (bibtex)
  4. Jacob Gerlach, Autonomous Data Collection Techniques for Approximating Marine Vehicle Kinematics, Massachusetts Institute of Technology, Cambridge, Massachusetts, 2015. (bibtex)
  5. Kyle L. Woerner, Michael R. Benjamin, Autonomous Collision Avoidance Tradespace Analysis for High-Speed Vessels, 13th International Conference on Fast Sea Transportation. Society of Naval Architects and Marine Engineers, 2015. (bibtex)
  6. Erin M. Fischell, Henrik Schmidt, Autonomous Assessment of Seabed Ripple Geometry from Bistatic Acoustic Scattering Data, Proceedings, Seabed and Sediment Acoustics: Measurements and Modelling Conference, Bath, UK, September, 2015. (bibtex)

2014 (2 items)

  1. Kyle Woerner, COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming, Massachusetts Institute of Technology, Cambridge MA, June, 2014. (bibtex)
  2. Kyle Woerner, Michael Benjamin, Safety and Efficiency Analysis of Autonomous Collision Avoidance Using Multi-objective Optimization with Interval Programming, Naval Engineers Journal, (126)4, 163--168, 2014. (bibtex)

2012 (1 item)

  1. Michael R. Benjamin, Henrik Schmidt, Paul M. Newman, John J. Leonard, Unmanned Marine Vehicle Autonomy with MOOS-IvP, 2, 1-100, Springer, Edited by Mae Seto, 2012. (bibtex)

2010 (1 item)

  1. Michael R. Benjamin, Henrik Schmidt, Paul M. Newman, John J. Leonard, Nested Autonomy for Unmanned Marine Vehicles with MOOS-IvP, Journal of Field Robotics, (27)6, 834-875, November/December, 2010. (bibtex)

2009 (1 item)

  1. Andrew J. Poulsen, Donald P. Eickstedt, Henrik Schmidt, Stabilized target bearing estimation and tracking for AUVs with towed hydrophone arrays, U.S. Navy Journal of Underwater Acoustics, 2009. (bibtex)

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