Projects

Design, fabrication, and documentation of the Spurdog UUV platform as a reproducible, field-configurable vehicle for partner institutions. Includes hull, tailcone, fin actuation, propulsion, power systems, and payload integration.

ASV-aided localization of UUV fleets using acoustic ranging, nonlinear estimation, and cooperative geometry. Field validation with low-cost scalable systems.

Certifiably correct range-aided localization, cooperative SLAM, and robust state estimation for GPS-denied underwater environments using acoustic ranging and semidefinite programming.

Real-time cooperative decision-making and behavior coordination across multi-vehicle fleets. Closed-loop autonomous responses to shared situational awareness and inter-vehicle communication.

Multi-vehicle fleet deployment with WHOI Micromodem and Ahoi acoustic modems. Cooperative mission execution, inter-vehicle messaging, and over-the-horizon reporting via Iridium.

MOOS-IvP based simulation environments, vehicle dynamics modeling, virtual sensor frameworks, and software tooling for development, testing, and deployment.