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DEPTHX: Deep Phreatic Thermal Explorer (DEPTHX)
Head: David Wettergreen
Contact: David Wettergreen
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Field Robotics Center (FRC)
Project Homepage
Publications
  • Segmented SLAM in Three-Dimensional Environments

    Nathaniel Fairfield, George A. Kantor, and David Wettergreen
    Journal of Field Robotics, Vol. 27, No. 1, March, 2010, pp. 85-103.
    Details | pdf (675KB) | Copyrighted

  • DEPTHX Autonomy Software: Design and Field Results

    Nathaniel Fairfield, George A. Kantor, Dominic Jonak, and David Wettergreen
    tech. report CMU-RI-TR-08-09, Robotics Institute, Carnegie Mellon University, July, 2008
    Details | pdf (22MB) | Copyrighted

  • Active Localization on the Ocean Floor With Multibeam Sonar

    Nathaniel Fairfield and David Wettergreen
    Proceedings of MTS/IEEE OCEANS, 2008.
    Details | pdf (4MB) | Copyrighted

  • 3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEep Phreatic THermal eXplorer)

    Marcus Gary, Nathaniel Fairfield, William C. Stone, David Wettergreen, George A. Kantor, and John M. Sharp~Jr.
    Proceedings of KARST08: 11th Sinkhole Conference ASCE, 2008.
    Details | pdf (498KB) | Copyrighted

  • Autonomous Underwater Vehicle Navigation and Proximity Operations for Deep Phreatic Thermal Explorer (DEPTHX)

    William Stone, Nathaniel Fairfield, and George 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, March, 2007.
    Details

  • Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels

    Nathaniel Fairfield, George A. Kantor, and David Wettergreen
    Journal of Field Robotics, , 2007
    Details | pdf (2MB) | Copyrighted

  • Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV

    Nathaniel Fairfield, Dominic Jonak, George A. Kantor, and David Wettergreen
    Intl. Symp. on Unmanned Untethered Submersible Technology, 2007.
    Details | pdf (2MB) | Copyrighted

  • Experiments in Navigation and Mapping with a Hovering AUV

    George A. Kantor, Nathaniel Fairfield, Dominic Jonak, and David Wettergreen
    Intl. Conf. on Field and Service Robotics, 2007.
    Details | pdf (1MB) | Copyrighted

  • Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment

    Nathaniel Fairfield, George A. Kantor, and David Wettergreen
    Proceedings of ICRA 2006, May, 2006, pp. 3575 - 3580.
    Details | pdf (1MB) | Copyrighted

  • Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments

    Nathaniel Fairfield, George A. Kantor, and David Wettergreen
    Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), August, 2005.
    Details | pdf (809KB) | Copyrighted