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DEPTHX: Deep Phreatic Thermal Explorer (DEPTHX) Head: David Wettergreen Contact: David Wettergreen (dsw@ri.cmu.edu) Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated center: FRC For more information, see this project's homepage.

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Personnel

	Name	Title	Email Address
	Nathaniel Fairfield	PhD Student, RI	than@cmu.edu
	Dominic Jonak	Senior Research Programmer	dom@ri.cmu.edu
	George A Kantor	Systems Scientist	kantor@ri.cmu.edu
	Sanjiv Singh	Associate Research Professor	ssingh@ri.cmu.edu
	Michael D Wagner	NREC Commercialization Specialist	mwagner@cmu.edu
	David Wettergreen	Assoc. Research Professor	dsw@ri.cmu.edu

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Autonomous Underwater Vehicle Navigation and Proximity Operations for Deep Phreatic Thermal Explorer (DEPTHX)
  W. Stone, N. Fairfield, and G.A. Kantor
  Masterclass in AUV Technology for Polar Science: Proceedings of an International Masterclass Held at the National Oceanography Centre, Southampton, UK, 28-39 March 2006, Society for Underwater Technology, London, March, 2007. [Abstract]

• Experiments in Navigation and Mapping with a Hovering AUV
  G.A. Kantor, N. Fairfield, D. Jonak, and D. Wettergreen
  Intl. Conf. on Field and Service Robotics, 2007. [Abstract]
  Download: pdf [1131 KB] copyrighted

• Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV
  N. Fairfield, D. Jonak, G.A. Kantor, and D. Wettergreen
  Intl. Symp. on Unmanned Untethered Submersible Technology, 2007. [Abstract]
  Download: pdf [1988 KB] copyrighted

• Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels
  N. Fairfield, G.A. Kantor, and D. Wettergreen
  Journal of Field Robotics, 2007. [Abstract]
  Download: pdf [1867 KB] copyrighted

• Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment
  N. Fairfield, G.A. Kantor, and D. Wettergreen
  Proceedings of ICRA 2006, May, 2006, pp. 3575 - 3580. [Abstract]
  Download: pdf [1310 KB] copyrighted

• Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments
  N. Fairfield, G.A. Kantor, and D. Wettergreen
  Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), AUSI, Lee, New Hampshire, August, 2005. [Abstract]
  Download: pdf [808 KB], ps.gz [1892 KB] copyrighted