Research

HippoCampus is used as a platform for a variety of research projects. It allows to test hardware, implement control and estimation algorithms, as well as tackle all kinds of interesting problems in robotics.

Current Projects

Learning of environmental fields with micro underwater robots

Localization of micro underwater robots

High-performance hydrobatics

Selected Publications

  • D.-A. Duecker, K. Eusemann, and E. Kreuzer. Towards an Open-Source Micro Robot Oceanarium: A Low-Cost, Modular and Mobile Underwater Motion-Capture System. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.

  • D.-A. Duecker, T. Johannink, E. Kreuzer, V. Rausch, and E. Solowjow. An Integrated Approach to Navigation and Control in Micro Underwater Robotics using Radio-Frequeny Localization. In IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.

  • D.-A. Duecker, A.R. Geist, E. Kreuzer, and E. Solowjow. Learning Environmental Field Exploration with Computationally Constrained Underwater Robots: Gaussian Processes meet Stochastic Optimal Control. In Sensors, 2019.

  • D.-A. Duecker, A. Hackbarth, T. Johannink, E. Kreuzer, and E. Solowjow. Micro Underwater Vehicle Hydrobatics: A Submerged Furuta Pendulum. In IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018.

  • G. Brinkmann, D.-A. Duecker, E. Kreuzer, and E. Solowjow. Reinforcement Learning of Depth Stabilization with a Micro Diving Agent. In IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018.

  • D.-A. Duecker, E. Kreuzer, G. Maerker, and E. Solowjow. Parameter Identification for Micro Underwater Vehicles. PAMM Proceeding in Applied Mathematics and Mechanics 2018, Munich, Germany, 2018.

  • A.D. Buchan, E. Solowjow, D-A. Duecker, and E. Kreuzer. Low-Cost Monocular Localization with Active Markers for Micro Autonomous Underwater Vehicles. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.

  • D.-A. Duecker, A.R. Geist, M. Hengeler, E. Kreuzer, M.-A. Pick, V. Rausch, E. Solowjow. Embedded Spherical Localization for Micro Underwater Vehicles based on Attenuation of Electro-Magnetic Carrier Signals. In Sensors, 17(5):959-981, 2017.

  • R. A. Geist, A. Hackbarth, E. Kreuzer, V. Rausch, M. Sankur, and E. Solowjow, “Towards a Hyperbolic Acoustic One-Way Localization System for Underwater Swarm Robotics,” in IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 4551– 4556.

  • A. Hackbarth, E. Kreuzer, and E. Solowjow, “HippoCampus: A micro underwater vehicle for swarm applications,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015, pp. 2258–2263.