Tuesday, Sep 23, 2025 at 10:16 AM

@techreport{walls_using_2025,
    title = {Using the {Robot} {Operating} {System} for uncrewed surface vehicle navigation to avoid beaching},
    url = {https://hdl.handle.net/11681/49959},
    abstract = {Our research explores the use of the Robotic Operating System (ROS) to autonomously navigate an uncrewed surface vehicle (USV). As a proof of concept, we set up a simulated world and spawned a virtual Wave Adaptive Modular Vehicle (WAM-V). We used the robot\_localization package to localize the WAM-V in the virtual world and used move\_base for the navigation of waypoints. The move\_base package used both costmaps and path planners to reach its intended goal while simultaneously avoiding sub-merged shallow-water obstacles. Shallow-water obstacles are obstacles at a depth that is less than a user-defined value (1 meter in this case). Finally, we investigated using vizanti as a mission planner. This report provides a detailed explanation of the parameters that were modified to demonstrate a successful proof of concept.},
    urldate = {2025-09-23},
    institution = {Engineer Research and Development Center (U.S.)},
    author = {Walls, Andrew and Glaspell, Garry and Bak, Spicer and Conery, Ian and Saenz, Matthew},
    month = sep,
    year = {2025},
    doi = {10.21079/11681/49959},
    keywords = {ROS 1},
}