autonomous-underwater-vehicle

[EMNLP 2026] OceanGym: A Benchmark Environment for Underwater Embodied Agents

Data-driven approach for AUV navigation

Learning Missing Doppler Velocity Log Beam Measurements

This repository is the code for the paper "Glocal trajectory generation and tracking control for autonomous underwater vehicles with optimal coverage sensor networks"

C++ Simulator and ROS 2 Node for Ultra-Short Baseline Systems (USBL).

This GitHub repository serves as a valuable resource for researchers, developers, and enthusiasts working with AUVs, providing a range of image processing algorithms and tools tailored to enhance visual perception and analysis in underwater scenarios.

C++ Simulator and ROS 2 Node for Inertial Measurement Units.

C++ Simulator and ROS 2 Node for Doppler-Velocity Log (DVL).

C++ Simulator and ROS 2 Node for Magnetometers (MAG).

Reproducible 6-DOF AUV trajectory tracking with PID, Q-PID, PPO/SAC, multi-seed benchmarks, PyBullet replay, and ROS 2 safety integration.

CoUGARs development environment

Fine-tuned BERT-based model for classifying underwater objects from textual descriptions into man-made, spherical, or natural categories.

C++ Module and ROS 2 Node that reads in Trajectory from CSV files and publishes to ROS 2.

Simple C++ Simulator and ROS 2 Node for GNSS.

C++Driver and ROS 2 Node for KELLER Series 10LHPX Pressure Transmitter (Depth Sensor).

A C-language API with tools for raster data including geophysical applications and digital elevation models

An independent ROS 2 autonomy stack for autonomous underwater vehicles. Custom control board at 500 Hz, vision on a Hailo-8, and every capability claim carrying its evidence. Mongla is a research platform to push boundaries of underwater robotics.

C++ Simulator and ROS 2 Node for Depth Pressure Sensor (DPTH).

AUVSimBench is a Python ROS 2 physics twin for AUV state-estimation simulations that runs on a Jetson AGX Orin.

Simulation of variable blade geometries and braking strategies for the advancement of an AUV