Underwater Robotics

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23 papers in the last four weeks, up 475% on the four weeks before. 0.2% of all new papers.

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  1. Towards Physical Underwater Robotic Assistance for Scuba Diver Movement in Confined Spaces

    Oct 1, 2026Demetrious T. Kutzke, Junaed SattarRoboticsUnderwater Robotics

  2. Active Mapping of Underwater Litter Using Camera-Sonar Fusion

    Sep 30, 2026David Rete, Patrick Boros, Lucian BusoniuActive SensingUnderwater Robotics

    Department of Automation Technical University of Cluj-Napoca Romania

  3. Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments & Docking

    Sep 29, 2026Victor Nan Fernandez-Ayala, Wiktor Kowalczyk, Cezary Banaszek +1Robot Trajectory TrackingUnderwater Robotics

    Department of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden.

  4. Multifunctional Locomotion Control of Multi-Jointed BURs with Swimming and gait Capabilities

    Sep 29, 2026Takumi Asada, Hideo Furuhashi, Kenta Tabata +2Robotic ControlRobot Locomotion

    Utsunomiya University, 7-1-2 Yoto, Utsunomiya, Tochigi, 321-8585, Japan · Aichi Institute of Technology, 1247 Yachigusa, Yakusa, Toyota, Aichi, 470-0392, Japan

  5. All You Need Is Low Fidelity: Zero-Shot Sim-to-Real of Learned Robotic Fish Control

    Sep 29, 2026Liam Maloney, Simon Ramchandani, Mike Y. Michelis +2Robotic ControlRobotics Simulation

    Soft Robotics Lab, ETH Zurich, Switzerland · ETH AI Center, ETH Zurich, Switzerland

  6. AquaWAM: A Dynamics-aware World Action Model for Underwater Embodied Agents

    Sep 27, 2026Cunhao Zhu, Yifeng Wang, Dongliang Xu +3Robot Dynamics LearningAction-Conditioned World Models

    Shandong University (sdu.edu.cn) · Beijing Institute of Technology (bit.edu.cn)

  7. Underwater C3-JEPA: An Object-Centric Cross-View World Model for ROV Salvage

    Sep 24, 2026Yuncong Yang, Jinlong Li, Yulong Xue +4World Models for RoboticsJoint-Embedding Predictive Architecture

    Underwater Engineering Institute, Shanghai Jiao Tong University, Shanghai 200240, China

  8. A Tendon-Driven Robotic Jellyfish with Constrained Soft Actuation and Depth Control via Reinforcement Learning

    Sep 24, 2026Jiarui Peng, Yutong Wu, Zelong Wang +5Underwater RoboticsTendon-Driven Actuation

    Hong Kong Embodied AI Lab, Hong Kong SAR, China · The Chinese University of Hong Kong, Hong Kong SAR, China · The Hong Kong University of Science and Technology, Hong Kong SAR, China

  9. Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions

    Sep 22, 2026Nicola De Carli, João Zenário, Victor Nan Fernandez-Ayala +1Multi-Robot Formation ControlLyapunov-Based Control

  10. Odometry-Aided Real-Time Mapping for Underwater Robots Using Forward-Looking Sonar

    Sep 21, 2026Siyuan Du, Kanzhong Yao, Youdong Wang +5Underwater ImagingUnderwater Robotics

    Institute of Artificial Intelligence (TeleAI), China Telecom, China. · Tongji University, Shanghai, China.

  11. AquaOrbit: Sim-to-Real Reinforcement Learning for Underwater Target Orbiting under Intermittent Visual Feedback

    Sep 21, 2026Kanzhong Yao, Jinyi Leng, Hao Zhang +2RL ControlSim-to-Real Transfer

    Institute of Artificial Intelligence (TeleAI), China Telecom, China. · Harbin Engineering University, China. · Tongji University, China.

  12. FinsSim: A Reality-Aligned Integrated Simulation Platform for Underwater Robot Learning

    Sep 20, 2026Yu Zhang, Yuanmingqing Song, Xiangyun Rao +4Robotic ControlRobotics Simulation

    Department of Automation, Shanghai Jiao Tong University, Shanghai, China · School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, China · Zhejiang University, Hangzhou, China

  13. Towards Reliable Underwater Diver-Robot Interaction: Gesture Design, Interaction Logic, and Real-World Evaluation

    Sep 20, 2026Yingqi Liu, Kanzhong Yao, Zimeng Peng +4Robotic ControlGesture Recognition

    University of Science and Technology of China, Hefei, China. · Institute of Artificial Intelligence (TeleAI), China Telecom, Shanghai 200232, China.

  14. Underwater Visual Target Tracking with Target-Specific Depth Estimation and Adaptive Model-Fusion Predictive Control

    Sep 17, 2026Yuheng Zhou, Haiyang Cheng, Yanqi Feng +5Depth EstimationModel Predictive Control

    Department of Automation, Shanghai Jiao Tong University, Shanghai, China · University of Toronto, Toronto, Canada · University of Calgary, Calgary, Canada

  15. A Simulation Platform for AUV Fault Recovery: Exploring LLM-Based Diagnostic Strategies

    Sep 17, 2026Khalid Halba, Kylie Cooper, James G. BellinghamLanguage Model-Based ControlRobot Failure Recovery

    Exploration Robotics Laboratory, Johns Hopkins Institute for Assured Autonomy, Baltimore, MD, USA

  16. Equivariant Filter Design for Acoustic and Depth Aided Inertial Navigation Systems

    Sep 17, 2026Arihant Lunawat, Pieter van Goor, Frank Dellaert +1Underwater RoboticsAutonomous Underwater Navigation

    The University of Sydney Sydney, Australia · Georgia Tech Atlanta, USA

  17. SOL-SLAM: Inverse Compositional Gauss-Newton Direct Registration for Fast Sonar-Only Local SLAM

    Sep 16, 2026Kalvik Jakkala, Jason O'KaneSimultaneous Localization and MappingUnderwater Robotics

    Texas A&M University

  18. ULOHA: An Underwater Bimanual Robot System for Robot Learning

    Sep 16, 2026Masato Kobayashi, Takeru TsunooriBimanual Robotic ManipulationVisuomotor Policy Learning

    The University of Osaka · Kobe University

  19. Swim-and-Breach at Palm Scale: A Rudder-Steered Two-Propeller Underwater Robot Platform with Differential-Thrust Pitch Control

    Sep 15, 2026Daehyun Choi, Ian Bergerson, Hengjia Zhu +2Robotic ControlUnderwater Robotics

    BioFrontiers Institute, University of Colorado Boulder, Boulder, CO 80309, USA

  20. Optimal Excitation Trajectories for System Identification of Underwater Vehicles

    Sep 15, 2026Fotis Panetsos, Kostas J. KyriakopoulosRobot Dynamics IdentificationTrajectory Optimization

    Center for AI & Robotics (CAIR) and the Electrical Eng. Program, Engineering Division, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates.

  21. Robust Underwater Grasping of Sloped Objects with a Waterproof Passive Adaptive Gripper

    Sep 14, 2026Jooyoung Hong, Daewon Hong, Joohyung KimRobotic Hand DesignRobotic Grasping

    KIMLAB (Kinetic Intelligent Machine LAB), University of Illinois, Urbana-Champaign, IL 61801, USA

  22. An Adaptive Fixed-Time Line-of-Sight Guidance Scheme for 3D Path Following of Underwater Vehicles: Theory and Experiment

    Sep 13, 2026Hanzhi Yang, Jalil Chavez-Galaviz, Nina MahmoudianRobot Trajectory TrackingUnderwater Robotics

    School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907 USA

  23. CougarTail & CUB: A General-Purpose Mast and Central Utility Board for Cylindrical Underwater Enclosures

    Sep 9, 2026Ben Washburn, Clayton Smith, Eli Gaskin +4Underwater Robotics

    Brigham Young University

  24. Advancing Accessible Underwater Robotics: The Mini-Girona I-AUV at RAMI 2025

    Sep 2, 2026Taqi Hamoda, Bilal Ahmed, Deborah Ele-Ojo +9Underwater Robotics

    CIRS lab, University of Girona

  25. A Browser-Native Digital Test Range for Benchmarking 4D Ocean-Glider Planning Algorithms

    Aug 13, 2026Edward Holmberg, Elias Ioup, Mahdi AbdelguerfiBenchmark DesignUnderwater Robotics

    Gulf States Center for Environmental Informatics · LSU New Orleans, LA, USA · Ocean Sciences Division +2

  26. AMR-Pose: An Active LED Marker-Based Relative Pose Estimation Framework With Probabilistic Switching PnP for Cooperative AUVs

    Aug 13, 2026Zeyu Sha, Xiaorui Wang, Mingyang Yang +1Relative Pose EstimationCamera Pose Estimation

    Robotics and Control Laboratory, School of Advanced Manufacturing and Robotics, and the State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, 100871, China

  27. Multi-AUV Ad-hoc network-based Target Tracking: A Value Gradient Guidance Multi-Agent Diffusion Reinforcement Learning Approach

    Aug 12, 2026Jiaao Ma, Chuan Lin, Guangjie Han +4Multi-Agent ControlDiffusion Policy

    Software College, Northeastern University, Shenyang, China · Key Laboratory of Maritime Intelligent Network Information Technology, Ministry of Education, Hohai University, Changzhou, China · College of Computer Science and Software Engineering, Hohai University, Nanjing, 210013, China

  28. Hierarchical Topology-Aware Planning and Control of Underwater Vehicle-Manipulator Systems in Confined Environments

    Aug 9, 2026Mohamed Abdelwahab, Ruggero Carli, Damiano Varagnolo +1Underwater RoboticsSafe Motion Planning

    Department of Information Engineering, University of Padova, Via Gradenigo 6/B, 35131 Padova, Italy · Department of Electrical and Information Engineering, Polytechnic University of Bari, Via Orabona 4, 70125 Bari, Italy · Department of Engineering Cybernetics, Norwegian University of Science and Technology, O. S. Bragstads plass 2D, 7034 Trondheim, Norway

  29. Stochastic Physics-Informed Neural Networks on Lie Groups for Learning Underwater Vehicle Dynamics

    Aug 8, 2026Evan F. Palmer, Ross L. Hatton, Geoffrey A. HollingerRobot Dynamics IdentificationUnderwater Robotics

    Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis OR 97331, USA

  30. Unified Planning-Learning Framework for Robust UUV Navigation Under Partial Observability

    Aug 5, 2026Md Ether Deowan, Eleni KelasidiRL ControlPartially Observable RL

    Department of Mechanical and Industrial Engineering, Faculty of Engineering, NTNU, Trondheim, Norway.