2024/04/08 by Thomas M. C. Sears, M. Riley Cooper, Sears, Thomas M. C. +5 · 1 citation
Computer Science · Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Modular Robots and Swarm Intelligence #Robot Manipulation and Learning #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2404.05627
openalex publication_date 2024/04/08 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
There exist a wide range of options for field robotics research using ground and aerial mobile robots, but there are comparatively few robust and research-ready uncrewed surface vessels (USVs). This workshop paper starts with a snapshot of USVs currently available to the research community and then describes "OtterROS", an open source ROS 2 solution for the Otter USV. Field experiments using OtterROS are described, which highlight the utility of the Otter USV and the benefits of using ROS 2 in aquatic robotics research. For those interested in USV research, the paper details recommended hardware to run OtterROS and includes an example ROS 2 package using OtterROS, removing unnecessary non-recurring engineering from field robotics research activities.