Robotics paper index
Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments & Docking
One-line summary
A robotics research paper on Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments & Docking.
Engineering notes
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Chinese explanation / 中文解读
中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
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 Orin NX and an Intel RealSense D435i stereo camera in a modular pressure housing. Underwater-calibrated stereo depth and realtime object detection provide relative position measurements of nearby BlueROV2 vehicles in the camera and body frames. A quaternion-based estimator fuses external pose and inertial measurements, while an NMPC controller based on a nonlinear six-degree-of-freedom model tracks planned navigation and docking trajectories. To support reproducible development, we also provide open-source physics-based PX4 SITL and Gazebo environments, multi-robot simulation tools and a lowcost physical docking station. Experiments evaluate underwater perception, onboard computational performance, state estimation, trajectory tracking and autonomous docking.
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