Publications

Publications and technical memos from the Spurdog project.

2026

A Simulation and Field Study Analysis of Cooperative Range-Aided Localization Strategies for Compact, Low-Cost AUV Teams

E. Gajski, R. Turrisi, J. Hong, J. Morrison, A. Papalia, E. Gallimore, M. Benjamin, J. Leonard

IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2026

2025

ASV-Aided AUV Navigation: A Field Study on Nonlinear Estimation for Localization of Low-Cost, Scalable Systems

R. Turrisi, D. A. Duecker, J. Morrison, F. Steinmetz, M. Benjamin

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

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Characterizing Mathematically Parameterized Toroidal Propellers for AUV Applications

H. Huang, R. Turrisi, R. Leonard, M. Benjamin

OCEANS 2025 — Great Lakes, IEEE, 2025

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2024

A Feature-Rich and Modular Aft Section for Autonomous Underwater Vehicles: The Trident Series of Tailcones

R. Turrisi, M. R. Benjamin

OCEANS 2024 — Halifax, IEEE, 2024

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The Spurdog AUV: A Field Configurable and Optionally A-Sized Low-Cost AUV

R. Turrisi, H. Huang, F. Strömstad, J. Morrison, A. Papalia, J. Leonard, M. Benjamin

IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2024

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