Preprint
Sep 2026
Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments&Docking
Autonomous underwater robots require robust perception, estimation and control to operate in confined environments. This paper presents an open-source BlueROV2 platform combining onboard vision with nonlinear Model Predictive Control (NMPC) for autonomous navigation and docking. The platform integrates an NVIDIA Jetson...
Victor Nan Fernandez-Ayala, Wiktor Kowalczyk, Cezary Banaszek et al.
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