Alpha Core AUV

This repository contains source codes for ALPHA AUV family.

ALPHA Science AUV

ALPHA Imaging AUV

Directory Structure

alpha_driver Driver package for the micro controller inside the ALPHA AUVs.

alpha_localization Localization configuration for ALPHA AUVs.

Installation

Clone the repository

git clone --single-branch --branch noetic-devel https://github.com/uri-ocean-robotics/alpha_core
cd alpha_core
git submodule update --init --recursive

MVP Installation

Currently MVP packages should be build from the source. Target platform must be Ubuntu 20.04 because of the dependencies.

Pull repository and other dependencies

git clone --single-branch --branch noetic-devel https://github.com/uri-ocean-robotics/mvp_msgs

Install Dependencies

Install dependencies

rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y

Citation

If you find this software useful in your research, please cite:

Note, this work is published in OCEANS 2022 conference. Once the paper is publicly available, bibtex entry will be updated with the one from IEEExplore.

@inproceedings{
    ALPHA_PAPER,
    title = {Acrobatic Low-cost Portable Hybrid AUV (ALPHA): System Design and Preliminary Results},
    author={Zhou, Mingxi and Gezer, Emir Cem and McConnell, William and Yuan, Chengzhi},
    booktitle={OCEANS 2022: Hampton Roads},
    year={2022},
    organization={IEEE}
}

Funding

This work is supported by the National Science Foundation award #2154901