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- The competition will be from July 13-18, 2010 at the Space and Naval
Warfare Systems Center in San Diego,CA.
- With SubjuGator 6c, the entire software architecture has been redesigned due to a shift from Microsoft's Robotics Studio to the JAUS framework. An IMU has been incorporated allowing for an Unscented Kalman filter to perform sensor fusion tasks between the accelerometers, gyroscopes, magnetometers, pressure sensor, and DVL. The success of the filter has allowed the controller architecture to become a more advanced position based nonlinear RISE controller with an optional neural network for platform dynamics estimation. The motor driver, hydrophone acquisition, and pressure sensor hardware are redesigned and vastly improved. SubjuGator 6c has been updated with two quad core mobile single board computers.
- Our Entry for 2010.
- Our Journal Article for 2010.
- The Rules for the
competition.
- The Shopping list for the
competition.
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