Notes

Mon, 06/17/2019

I successfully defended my Ph.D thesis, entitled "Underwater & Out of Sight: Towards Ubiquity in Underwater Robotics", on June 14th 2019!!!

Tue, 04/02/2019

I've written up a straightforward derivation of the matched filter here:

http://nrr.mit.edu/sites/default/files/documents/Matched_Filter.pdf

Wed, 12/12/2018

We were nominated for, and awarded the IROS ICROS Best Application Paper Award for our paper, "Closed-Loop Single-Beacon Passive Acoustic Navigation for Low-Cost Autonomous...

Tue, 09/12/2017

I gave a lecture about AUV navigation and localization for the MIT Unmanned Marine Vehicle Autonomy, Sensing and Communications (2.680) class. Here are the slides: Localization Presentation

Sun, 03/12/2017

Lab 11: Trilateration

Zeta Mission: zeta.zip

Sun, 02/26/2017

A quick note about using the vtkOrientationMarkerWidget with PyQT. People have reported crashes while trying to use the widget:

http://stackoverflow.com/...

Sat, 03/19/2016

I highly recommend a great introduction to Kalman filtering, Extended Kalman filtering and more at: https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python

Fri, 03/18/2016

Test test test.

Wed, 03/16/2016

Test test test.