Research

HippoCampus is used as a platform for a variety of research projects. It allows to test hardware, implement control and estimation algorithms, as well as tackle all kinds of interesting problems in robotics.

Current Projects

Statistical learning of environmental fiels with micro underwater robots

Localization of micro underwater robots

The floating Furuta pendulum

High-performance hydrobatics

Selected Publications

A. Hackbarth, E. Kreuzer, and E. Solowjow, “HippoCampus: A micro underwater vehicle for swarm applications,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015, pp. 2258–2263.

R. A. Geist, A. Hackbarth, E. Kreuzer, V. Rausch, M. Sankur, and E. Solowjow, “Towards a Hyperbolic Acoustic One-Way Localization System for Underwater Swarm Robotics,” in IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 4551– 4556.

D.-A. Duecker, A.R. Geist, M. Hengeler, E. Kreuzer, M.-A. Pick, V. Rausch, E. Solowjow. Embedded Spherical Localization for Micro Underwater Vehicles based on Attenuation of Electro-Magnetic Carrier Signals. In Sensors, 17(5):959-981, 2017.

A.D. Buchan, E. Solowjow, D-A. Duecker, and E. Kreuzer. Low-Cost Monocular Localization with Active Markers for Micro Autonomous Underwater Vehicles. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.

G. Brinkmann, D.-A. Duecker, E. Kreuzer, and E. Solowjow. Reinforcement Learning of Depth Stabilization with a Micro Diving Agent. In IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018 (accepted).

D.-A. Duecker, A. Hackbarth, T. Johannink, E. Kreuzer, and E. Solowjow. Micro Underwater Vehicle Hydrobatics: A Submerged Furuta Pendulum. In IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018 (accepted).