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\wikidoc{file=Robot.CRay}
\wikidoc{auth=supun@mit.edu}

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\section*{C-Ray - An autonomous amphibious vehicle with ice, land, surface and underwater operating capability}
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\noindent
C-Ray platform is a unique autonomous amphibious vehicle, developed by
Pliant Energy Systems in Brooklyn NY, with funding from the Office of Naval
Research (Dr. Tom McKenna at ONR). It can use several modes of
locomotion found in the animal kingdom using just one pair of
fins. These fins are best described as four-dimensional objects with a
hyperbolic geometry that allows the robot to swim like a ray, crawl
like a millipede, jet like a squid, and slide like a snake. C-Ray has
unprecedented freedom to travel through a range of environments in a
single mission. As an underwater vehicle, the robot's ability to
instantly reverse direction and do quick turns make it ideal for tasks
such as coral reef inspection or dragon fish hunting where a craft
must rapidly maneuver to look around and between objects.

MIT Marine Autonomy Lab is working with Pliant Energy Systems, on
integrating autonomy to this platform. The goal of this effort is
developing a vehicle that is capable of conducting autonomous
amphibious missions. An example mission may look like: the vehicle
being deployed from a surface boat where it is required to transit
in-water to a designated sandy beach, and conduct an autonomous survey
to detect buried metal objects, after which it will re-enter the water
and return to the surface boat.


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%\section*{Quick Facts}
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  \var{Size}: &amp; 1.0 m length \\ \hline
  \var{Sensors}: &amp; GPS, IMU, external pressure/depth sensor, wifi, GSM, and TBD \\ \hline
  \var{Software:} &amp; Autonomy System: MOOS-IvP \\
                  &amp; Navigation System: HydroMAN \\ \hline
  \var{Projects:} &amp; Autonomy integration (ONR funded) \\ \hline
  \var{Manufacturer:} &amp; \urlx{https://www.pliantenergy.com/} \\ \hline
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\normalsize

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% \section*{Recent Publications}
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