Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle Article Swipe

View

Chelsey Edge , Sadman Sakib Enan , Michael Fulton , Jungseok Hong , Jiawei Mo , Kimberly Barthelemy , Hunter Bashaw , Berik Kallevig , Corey Knutson , Kevin Orpen , Junaed Sattar ·

YOU? · · 2020 · Open Access · · DOI: https://doi.org/10.1109/iros45743.2020.9341007

In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this underwater robot, as well as the design of a simulator in Gazebo. Additionally, we explore the platform's preliminary local motion control and state estimation abilities, which enable it to perform maneuvers autonomously. In order to demonstrate its usefulness for a variety of tasks, we implement a variety of our previously presented human-robot interaction capabilities on LoCO, including gestural control, diver following, and robot communication via motion. Finally, we discuss the practical concerns of deployment and our experiences in using this robot in pools, lakes, and the ocean. All design details, instructions on assembly, and code will be released under a permissive, open-source license.

Related Topics

Human–Computer Interaction

Artificial Intelligence

Engineering

Oceanography

Programming Language

Concepts

Underwater Software deployment Robot Open source Computer science Variety (cybernetics) License Code (set theory) Sonar Simulation Real-time computing Marine engineering Human–computer interaction Artificial intelligence Engineering Software Oceanography Programming language Set (abstract data type) Operating system Geology

Metadata

Type: preprint
Language: en
Landing Page: https://doi.org/10.1109/iros45743.2020.9341007
OA Status: green
Cited By: 4
References: 32
Related Works: 20
OpenAlex ID: https://openalex.org/W3012729226

All OpenAlex metadata

Raw OpenAlex JSON

OpenAlex ID: https://openalex.org/W3012729226

Canonical identifier for this work in OpenAlex
DOI: https://doi.org/10.1109/iros45743.2020.9341007

Digital Object Identifier
Title: Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle

Work title
Type: preprint

OpenAlex work type
Language: en

Primary language
Publication year: 2020

Year of publication
Publication date: 2020-10-24

Full publication date if available
Authors: Chelsey Edge, Sadman Sakib Enan, Michael Fulton, Jungseok Hong, Jiawei Mo, Kimberly Barthelemy, Hunter Bashaw, Berik Kallevig, Corey Knutson, Kevin Orpen, Junaed Sattar

List of authors in order
Landing page: https://doi.org/10.1109/iros45743.2020.9341007

Publisher landing page
Open access: Yes

Whether a free full text is available
OA status: green

Open access status per OpenAlex
OA URL: https://arxiv.org/pdf/2003.09041

Direct OA link when available
Concepts: Underwater, Software deployment, Robot, Open source, Computer science, Variety (cybernetics), License, Code (set theory), Sonar, Simulation, Real-time computing, Marine engineering, Human–computer interaction, Artificial intelligence, Engineering, Software, Oceanography, Programming language, Set (abstract data type), Operating system, Geology

Top concepts (fields/topics) attached by OpenAlex
Cited by: 4

Total citation count in OpenAlex
Citations by year (recent): 2024: 1, 2023: 2, 2022: 1

Per-year citation counts (last 5 years)
References (count): 32

Number of works referenced by this work
Related works (count): 20

Other works algorithmically related by OpenAlex

Full payload

id	https://openalex.org/W3012729226
doi	https://doi.org/10.1109/iros45743.2020.9341007
ids.doi	https://doi.org/10.1109/iros45743.2020.9341007
ids.mag	3012729226
ids.openalex	https://openalex.org/W3012729226
fwci	0.53528084
type	preprint
title	Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle
biblio.issue
biblio.volume
biblio.last_page	1768
biblio.first_page	1761
topics[0].id	https://openalex.org/T11192
topics[0].field.id	https://openalex.org/fields/22
topics[0].field.display_name	Engineering
topics[0].score	1.0
topics[0].domain.id	https://openalex.org/domains/3
topics[0].domain.display_name	Physical Sciences
topics[0].subfield.id	https://openalex.org/subfields/2212
topics[0].subfield.display_name	Ocean Engineering
topics[0].display_name	Underwater Vehicles and Communication Systems
topics[1].id	https://openalex.org/T10191
topics[1].field.id	https://openalex.org/fields/22
topics[1].field.display_name	Engineering
topics[1].score	0.9959999918937683
topics[1].domain.id	https://openalex.org/domains/3
topics[1].domain.display_name	Physical Sciences
topics[1].subfield.id	https://openalex.org/subfields/2202
topics[1].subfield.display_name	Aerospace Engineering
topics[1].display_name	Robotics and Sensor-Based Localization
topics[2].id	https://openalex.org/T12697
topics[2].field.id	https://openalex.org/fields/23
topics[2].field.display_name	Environmental Science
topics[2].score	0.9914000034332275
topics[2].domain.id	https://openalex.org/domains/3
topics[2].domain.display_name	Physical Sciences
topics[2].subfield.id	https://openalex.org/subfields/2312
topics[2].subfield.display_name	Water Science and Technology
topics[2].display_name	Water Quality Monitoring Technologies
is_xpac	False
apc_list
apc_paid
concepts[0].id	https://openalex.org/C98083399
concepts[0].level	2
concepts[0].score	0.7593186497688293
concepts[0].wikidata	https://www.wikidata.org/wiki/Q3246517
concepts[0].display_name	Underwater
concepts[1].id	https://openalex.org/C105339364
concepts[1].level	2
concepts[1].score	0.6432307958602905
concepts[1].wikidata	https://www.wikidata.org/wiki/Q2297740
concepts[1].display_name	Software deployment
concepts[2].id	https://openalex.org/C90509273
concepts[2].level	2
concepts[2].score	0.6393778920173645
concepts[2].wikidata	https://www.wikidata.org/wiki/Q11012
concepts[2].display_name	Robot
concepts[3].id	https://openalex.org/C3018397939
concepts[3].level	3
concepts[3].score	0.6201416254043579
concepts[3].wikidata	https://www.wikidata.org/wiki/Q3644502
concepts[3].display_name	Open source
concepts[4].id	https://openalex.org/C41008148
concepts[4].level	0
concepts[4].score	0.6045304536819458
concepts[4].wikidata	https://www.wikidata.org/wiki/Q21198
concepts[4].display_name	Computer science
concepts[5].id	https://openalex.org/C136197465
concepts[5].level	2
concepts[5].score	0.593484103679657
concepts[5].wikidata	https://www.wikidata.org/wiki/Q1729295
concepts[5].display_name	Variety (cybernetics)
concepts[6].id	https://openalex.org/C2780560020
concepts[6].level	2
concepts[6].score	0.5606182217597961
concepts[6].wikidata	https://www.wikidata.org/wiki/Q79719
concepts[6].display_name	License
concepts[7].id	https://openalex.org/C2776760102
concepts[7].level	3
concepts[7].score	0.46352607011795044
concepts[7].wikidata	https://www.wikidata.org/wiki/Q5139990
concepts[7].display_name	Code (set theory)
concepts[8].id	https://openalex.org/C555745239
concepts[8].level	2
concepts[8].score	0.45120275020599365
concepts[8].wikidata	https://www.wikidata.org/wiki/Q133220
concepts[8].display_name	Sonar
concepts[9].id	https://openalex.org/C44154836
concepts[9].level	1
concepts[9].score	0.43552589416503906
concepts[9].wikidata	https://www.wikidata.org/wiki/Q45045
concepts[9].display_name	Simulation
concepts[10].id	https://openalex.org/C79403827
concepts[10].level	1
concepts[10].score	0.39452123641967773
concepts[10].wikidata	https://www.wikidata.org/wiki/Q3988
concepts[10].display_name	Real-time computing
concepts[11].id	https://openalex.org/C199104240
concepts[11].level	1
concepts[11].score	0.351596474647522
concepts[11].wikidata	https://www.wikidata.org/wiki/Q118291
concepts[11].display_name	Marine engineering
concepts[12].id	https://openalex.org/C107457646
concepts[12].level	1
concepts[12].score	0.33978185057640076
concepts[12].wikidata	https://www.wikidata.org/wiki/Q207434
concepts[12].display_name	Human–computer interaction
concepts[13].id	https://openalex.org/C154945302
concepts[13].level	1
concepts[13].score	0.313079833984375
concepts[13].wikidata	https://www.wikidata.org/wiki/Q11660
concepts[13].display_name	Artificial intelligence
concepts[14].id	https://openalex.org/C127413603
concepts[14].level	0
concepts[14].score	0.26423466205596924
concepts[14].wikidata	https://www.wikidata.org/wiki/Q11023
concepts[14].display_name	Engineering
concepts[15].id	https://openalex.org/C2777904410
concepts[15].level	2
concepts[15].score	0.12742263078689575
concepts[15].wikidata	https://www.wikidata.org/wiki/Q7397
concepts[15].display_name	Software
concepts[16].id	https://openalex.org/C111368507
concepts[16].level	1
concepts[16].score	0.0
concepts[16].wikidata	https://www.wikidata.org/wiki/Q43518
concepts[16].display_name	Oceanography
concepts[17].id	https://openalex.org/C199360897
concepts[17].level	1
concepts[17].score	0.0
concepts[17].wikidata	https://www.wikidata.org/wiki/Q9143
concepts[17].display_name	Programming language
concepts[18].id	https://openalex.org/C177264268
concepts[18].level	2
concepts[18].score	0.0
concepts[18].wikidata	https://www.wikidata.org/wiki/Q1514741
concepts[18].display_name	Set (abstract data type)
concepts[19].id	https://openalex.org/C111919701
concepts[19].level	1
concepts[19].score	0.0
concepts[19].wikidata	https://www.wikidata.org/wiki/Q9135
concepts[19].display_name	Operating system
concepts[20].id	https://openalex.org/C127313418
concepts[20].level	0
concepts[20].score	0.0
concepts[20].wikidata	https://www.wikidata.org/wiki/Q1069
concepts[20].display_name	Geology
keywords[0].id	https://openalex.org/keywords/underwater
keywords[0].score	0.7593186497688293
keywords[0].display_name	Underwater
keywords[1].id	https://openalex.org/keywords/software-deployment
keywords[1].score	0.6432307958602905
keywords[1].display_name	Software deployment
keywords[2].id	https://openalex.org/keywords/robot
keywords[2].score	0.6393778920173645
keywords[2].display_name	Robot
keywords[3].id	https://openalex.org/keywords/open-source
keywords[3].score	0.6201416254043579
keywords[3].display_name	Open source
keywords[4].id	https://openalex.org/keywords/computer-science
keywords[4].score	0.6045304536819458
keywords[4].display_name	Computer science
keywords[5].id	https://openalex.org/keywords/variety
keywords[5].score	0.593484103679657
keywords[5].display_name	Variety (cybernetics)
keywords[6].id	https://openalex.org/keywords/license
keywords[6].score	0.5606182217597961
keywords[6].display_name	License
keywords[7].id	https://openalex.org/keywords/code
keywords[7].score	0.46352607011795044
keywords[7].display_name	Code (set theory)
keywords[8].id	https://openalex.org/keywords/sonar
keywords[8].score	0.45120275020599365
keywords[8].display_name	Sonar
keywords[9].id	https://openalex.org/keywords/simulation
keywords[9].score	0.43552589416503906
keywords[9].display_name	Simulation
keywords[10].id	https://openalex.org/keywords/real-time-computing
keywords[10].score	0.39452123641967773
keywords[10].display_name	Real-time computing
keywords[11].id	https://openalex.org/keywords/marine-engineering
keywords[11].score	0.351596474647522
keywords[11].display_name	Marine engineering
keywords[12].id	https://openalex.org/keywords/human–computer-interaction
keywords[12].score	0.33978185057640076
keywords[12].display_name	Human–computer interaction
keywords[13].id	https://openalex.org/keywords/artificial-intelligence
keywords[13].score	0.313079833984375
keywords[13].display_name	Artificial intelligence
keywords[14].id	https://openalex.org/keywords/engineering
keywords[14].score	0.26423466205596924
keywords[14].display_name	Engineering
keywords[15].id	https://openalex.org/keywords/software
keywords[15].score	0.12742263078689575
keywords[15].display_name	Software
language	en
locations[0].id	doi:10.1109/iros45743.2020.9341007
locations[0].is_oa	False
locations[0].source
locations[0].license
locations[0].pdf_url
locations[0].version	publishedVersion
locations[0].raw_type	proceedings-article
locations[0].license_id
locations[0].is_accepted	True
locations[0].is_published	True
locations[0].raw_source_name	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
locations[0].landing_page_url	https://doi.org/10.1109/iros45743.2020.9341007
locations[1].id	pmh:oai:arXiv.org:2003.09041
locations[1].is_oa	True
locations[1].source.id	https://openalex.org/S4306400194
locations[1].source.issn
locations[1].source.type	repository
locations[1].source.is_oa	True
locations[1].source.issn_l
locations[1].source.is_core	False
locations[1].source.is_in_doaj	False
locations[1].source.display_name	arXiv (Cornell University)
locations[1].source.host_organization	https://openalex.org/I205783295
locations[1].source.host_organization_name	Cornell University
locations[1].source.host_organization_lineage	https://openalex.org/I205783295
locations[1].license
locations[1].pdf_url	https://arxiv.org/pdf/2003.09041
locations[1].version	submittedVersion
locations[1].raw_type	text
locations[1].license_id
locations[1].is_accepted	False
locations[1].is_published	False
locations[1].raw_source_name
locations[1].landing_page_url	http://arxiv.org/abs/2003.09041
locations[2].id	mag:3012729226
locations[2].is_oa	True
locations[2].source.id	https://openalex.org/S4306400194
locations[2].source.issn
locations[2].source.type	repository
locations[2].source.is_oa	True
locations[2].source.issn_l
locations[2].source.is_core	False
locations[2].source.is_in_doaj	False
locations[2].source.display_name	arXiv (Cornell University)
locations[2].source.host_organization	https://openalex.org/I205783295
locations[2].source.host_organization_name	Cornell University
locations[2].source.host_organization_lineage	https://openalex.org/I205783295
locations[2].license
locations[2].pdf_url
locations[2].version	submittedVersion
locations[2].raw_type
locations[2].license_id
locations[2].is_accepted	False
locations[2].is_published	False
locations[2].raw_source_name	arXiv (Cornell University)
locations[2].landing_page_url	http://export.arxiv.org/pdf/2003.09041
locations[3].id	doi:10.48550/arxiv.2003.09041
locations[3].is_oa	True
locations[3].source.id	https://openalex.org/S4306400194
locations[3].source.issn
locations[3].source.type	repository
locations[3].source.is_oa	True
locations[3].source.issn_l
locations[3].source.is_core	False
locations[3].source.is_in_doaj	False
locations[3].source.display_name	arXiv (Cornell University)
locations[3].source.host_organization	https://openalex.org/I205783295
locations[3].source.host_organization_name	Cornell University
locations[3].source.host_organization_lineage	https://openalex.org/I205783295
locations[3].license
locations[3].pdf_url
locations[3].version
locations[3].raw_type	article
locations[3].license_id
locations[3].is_accepted	False
locations[3].is_published
locations[3].raw_source_name
locations[3].landing_page_url	https://doi.org/10.48550/arxiv.2003.09041
indexed_in	arxiv, crossref, datacite
authorships[0].author.id	https://openalex.org/A5013742540
authorships[0].author.orcid
authorships[0].author.display_name	Chelsey Edge
authorships[0].countries	US
authorships[0].affiliations[0].institution_ids	https://openalex.org/I2800403580
authorships[0].affiliations[0].raw_affiliation_string	University of Minnesota-Computer Science
authorships[0].institutions[0].id	https://openalex.org/I2800403580
authorships[0].institutions[0].ror	https://ror.org/03grvy078
authorships[0].institutions[0].type	education
authorships[0].institutions[0].lineage	https://openalex.org/I2800403580
authorships[0].institutions[0].country_code	US
authorships[0].institutions[0].display_name	University of Minnesota System
authorships[0].author_position	first
authorships[0].raw_author_name	Chelsey Edge
authorships[0].is_corresponding	False
authorships[0].raw_affiliation_strings	University of Minnesota-Computer Science
authorships[1].author.id	https://openalex.org/A5040341141
authorships[1].author.orcid	https://orcid.org/0000-0001-7942-4129
authorships[1].author.display_name	Sadman Sakib Enan
authorships[1].countries	US
authorships[1].affiliations[0].institution_ids	https://openalex.org/I2800403580
authorships[1].affiliations[0].raw_affiliation_string	University of Minnesota-Computer Science
authorships[1].institutions[0].id	https://openalex.org/I2800403580
authorships[1].institutions[0].ror	https://ror.org/03grvy078
authorships[1].institutions[0].type	education
authorships[1].institutions[0].lineage	https://openalex.org/I2800403580
authorships[1].institutions[0].country_code	US
authorships[1].institutions[0].display_name	University of Minnesota System
authorships[1].author_position	middle
authorships[1].raw_author_name	Sadman Sakib Enan
authorships[1].is_corresponding	False
authorships[1].raw_affiliation_strings	University of Minnesota-Computer Science
authorships[2].author.id	https://openalex.org/A5102749357
authorships[2].author.orcid	https://orcid.org/0000-0003-1842-6045
authorships[2].author.display_name	Michael Fulton
authorships[2].countries	US
authorships[2].affiliations[0].institution_ids	https://openalex.org/I2800403580
authorships[2].affiliations[0].raw_affiliation_string	University of Minnesota-Computer Science
authorships[2].institutions[0].id	https://openalex.org/I2800403580
authorships[2].institutions[0].ror	https://ror.org/03grvy078
authorships[2].institutions[0].type	education
authorships[2].institutions[0].lineage	https://openalex.org/I2800403580
authorships[2].institutions[0].country_code	US
authorships[2].institutions[0].display_name	University of Minnesota System
authorships[2].author_position	middle
authorships[2].raw_author_name	Michael Fulton
authorships[2].is_corresponding	False
authorships[2].raw_affiliation_strings	University of Minnesota-Computer Science
authorships[3].author.id	https://openalex.org/A5110745295
authorships[3].author.orcid
authorships[3].author.display_name	Jungseok Hong
authorships[3].countries	US
authorships[3].affiliations[0].institution_ids	https://openalex.org/I2800403580
authorships[3].affiliations[0].raw_affiliation_string	University of Minnesota-Computer Science
authorships[3].institutions[0].id	https://openalex.org/I2800403580
authorships[3].institutions[0].ror	https://ror.org/03grvy078
authorships[3].institutions[0].type	education
authorships[3].institutions[0].lineage	https://openalex.org/I2800403580
authorships[3].institutions[0].country_code	US
authorships[3].institutions[0].display_name	University of Minnesota System
authorships[3].author_position	middle
authorships[3].raw_author_name	Jungseok Hong
authorships[3].is_corresponding	False
authorships[3].raw_affiliation_strings	University of Minnesota-Computer Science
authorships[4].author.id	https://openalex.org/A5087799311
authorships[4].author.orcid	https://orcid.org/0000-0002-1043-5353
authorships[4].author.display_name	Jiawei Mo
authorships[4].countries	US
authorships[4].affiliations[0].institution_ids	https://openalex.org/I2800403580
authorships[4].affiliations[0].raw_affiliation_string	University of Minnesota-Computer Science
authorships[4].institutions[0].id	https://openalex.org/I2800403580
authorships[4].institutions[0].ror	https://ror.org/03grvy078
authorships[4].institutions[0].type	education
authorships[4].institutions[0].lineage	https://openalex.org/I2800403580
authorships[4].institutions[0].country_code	US
authorships[4].institutions[0].display_name	University of Minnesota System
authorships[4].author_position	middle
authorships[4].raw_author_name	Jiawei Mo
authorships[4].is_corresponding	False
authorships[4].raw_affiliation_strings	University of Minnesota-Computer Science
authorships[5].author.id	https://openalex.org/A5091650048
authorships[5].author.orcid
authorships[5].author.display_name	Kimberly Barthelemy
authorships[5].countries	US
authorships[5].affiliations[0].institution_ids	https://openalex.org/I2800403580
authorships[5].affiliations[0].raw_affiliation_string	University of Minnesota Aerospace Engineering
authorships[5].institutions[0].id	https://openalex.org/I2800403580
authorships[5].institutions[0].ror	https://ror.org/03grvy078
authorships[5].institutions[0].type	education
authorships[5].institutions[0].lineage	https://openalex.org/I2800403580
authorships[5].institutions[0].country_code	US
authorships[5].institutions[0].display_name	University of Minnesota System
authorships[5].author_position	middle
authorships[5].raw_author_name	Kimberly Barthelemy
authorships[5].is_corresponding	False
authorships[5].raw_affiliation_strings	University of Minnesota Aerospace Engineering
authorships[6].author.id	https://openalex.org/A5063650168
authorships[6].author.orcid
authorships[6].author.display_name	Hunter Bashaw
authorships[6].countries	US
authorships[6].affiliations[0].institution_ids	https://openalex.org/I16944753
authorships[6].affiliations[0].raw_affiliation_string	Clarkson University Computer Science
authorships[6].institutions[0].id	https://openalex.org/I16944753
authorships[6].institutions[0].ror	https://ror.org/03rwgpn18
authorships[6].institutions[0].type	education
authorships[6].institutions[0].lineage	https://openalex.org/I16944753
authorships[6].institutions[0].country_code	US
authorships[6].institutions[0].display_name	Clarkson University
authorships[6].author_position	middle
authorships[6].raw_author_name	Hunter Bashaw
authorships[6].is_corresponding	False
authorships[6].raw_affiliation_strings	Clarkson University Computer Science
authorships[7].author.id	https://openalex.org/A5070653580
authorships[7].author.orcid
authorships[7].author.display_name	Berik Kallevig
authorships[7].countries	US
authorships[7].affiliations[0].institution_ids	https://openalex.org/I130238516
authorships[7].affiliations[0].raw_affiliation_string	University of Minnesota, Mechanical Engineering
authorships[7].institutions[0].id	https://openalex.org/I130238516
authorships[7].institutions[0].ror	https://ror.org/017zqws13
authorships[7].institutions[0].type	education
authorships[7].institutions[0].lineage	https://openalex.org/I130238516
authorships[7].institutions[0].country_code	US
authorships[7].institutions[0].display_name	University of Minnesota
authorships[7].author_position	middle
authorships[7].raw_author_name	Berik Kallevig
authorships[7].is_corresponding	False
authorships[7].raw_affiliation_strings	University of Minnesota, Mechanical Engineering
authorships[8].author.id	https://openalex.org/A5006364066
authorships[8].author.orcid
authorships[8].author.display_name	Corey Knutson
authorships[8].countries	US
authorships[8].affiliations[0].institution_ids	https://openalex.org/I4210115145
authorships[8].affiliations[0].raw_affiliation_string	University of Minnesota - Duluth Computer Science
authorships[8].institutions[0].id	https://openalex.org/I4210115145
authorships[8].institutions[0].ror	https://ror.org/01hy4qx27
authorships[8].institutions[0].type	education
authorships[8].institutions[0].lineage	https://openalex.org/I4210115145
authorships[8].institutions[0].country_code	US
authorships[8].institutions[0].display_name	University of Minnesota, Duluth
authorships[8].author_position	middle
authorships[8].raw_author_name	Corey Knutson
authorships[8].is_corresponding	False
authorships[8].raw_affiliation_strings	University of Minnesota - Duluth Computer Science
authorships[9].author.id	https://openalex.org/A5081446612
authorships[9].author.orcid
authorships[9].author.display_name	Kevin Orpen
authorships[9].countries	US
authorships[9].affiliations[0].institution_ids	https://openalex.org/I2800403580
authorships[9].affiliations[0].raw_affiliation_string	University of Minnesota Aerospace Engineering
authorships[9].institutions[0].id	https://openalex.org/I2800403580
authorships[9].institutions[0].ror	https://ror.org/03grvy078
authorships[9].institutions[0].type	education
authorships[9].institutions[0].lineage	https://openalex.org/I2800403580
authorships[9].institutions[0].country_code	US
authorships[9].institutions[0].display_name	University of Minnesota System
authorships[9].author_position	middle
authorships[9].raw_author_name	Kevin Orpen
authorships[9].is_corresponding	False
authorships[9].raw_affiliation_strings	University of Minnesota Aerospace Engineering
authorships[10].author.id	https://openalex.org/A5055649336
authorships[10].author.orcid	https://orcid.org/0000-0002-3983-6265
authorships[10].author.display_name	Junaed Sattar
authorships[10].countries	US
authorships[10].affiliations[0].institution_ids	https://openalex.org/I130238516
authorships[10].affiliations[0].raw_affiliation_string	Computer Science at University of Minnesota
authorships[10].institutions[0].id	https://openalex.org/I130238516
authorships[10].institutions[0].ror	https://ror.org/017zqws13
authorships[10].institutions[0].type	education
authorships[10].institutions[0].lineage	https://openalex.org/I130238516
authorships[10].institutions[0].country_code	US
authorships[10].institutions[0].display_name	University of Minnesota
authorships[10].author_position	last
authorships[10].raw_author_name	Junaed Sattar
authorships[10].is_corresponding	False
authorships[10].raw_affiliation_strings	Computer Science at University of Minnesota
has_content.pdf	True
has_content.grobid_xml	True
is_paratext	False
open_access.is_oa	True
open_access.oa_url	https://arxiv.org/pdf/2003.09041
open_access.oa_status	green
open_access.any_repository_has_fulltext	False
created_date	2025-10-10T00:00:00
display_name	Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle
has_fulltext	False
is_retracted	False
updated_date	2025-11-06T03:46:38.306776
primary_topic.id	https://openalex.org/T11192
primary_topic.field.id	https://openalex.org/fields/22
primary_topic.field.display_name	Engineering
primary_topic.score	1.0
primary_topic.domain.id	https://openalex.org/domains/3
primary_topic.domain.display_name	Physical Sciences
primary_topic.subfield.id	https://openalex.org/subfields/2212
primary_topic.subfield.display_name	Ocean Engineering
primary_topic.display_name	Underwater Vehicles and Communication Systems
related_works	https://openalex.org/W2965972426, https://openalex.org/W2767490862, https://openalex.org/W1978458730, https://openalex.org/W2825177632, https://openalex.org/W2055188188, https://openalex.org/W3030535259, https://openalex.org/W2938971567, https://openalex.org/W3033778537, https://openalex.org/W1982216694, https://openalex.org/W3110411561, https://openalex.org/W2027427734, https://openalex.org/W2017286045, https://openalex.org/W2952381465, https://openalex.org/W2949223310, https://openalex.org/W2248301796, https://openalex.org/W2909574424, https://openalex.org/W2080264573, https://openalex.org/W1600489018, https://openalex.org/W1562168240, https://openalex.org/W2551561899
cited_by_count	4
counts_by_year[0].year	2024
counts_by_year[0].cited_by_count	1
counts_by_year[1].year	2023
counts_by_year[1].cited_by_count	2
counts_by_year[2].year	2022
counts_by_year[2].cited_by_count	1
locations_count	4
best_oa_location.id	pmh:oai:arXiv.org:2003.09041
best_oa_location.is_oa	True
best_oa_location.source.id	https://openalex.org/S4306400194
best_oa_location.source.issn
best_oa_location.source.type	repository
best_oa_location.source.is_oa	True
best_oa_location.source.issn_l
best_oa_location.source.is_core	False
best_oa_location.source.is_in_doaj	False
best_oa_location.source.display_name	arXiv (Cornell University)
best_oa_location.source.host_organization	https://openalex.org/I205783295
best_oa_location.source.host_organization_name	Cornell University
best_oa_location.source.host_organization_lineage	https://openalex.org/I205783295
best_oa_location.license
best_oa_location.pdf_url	https://arxiv.org/pdf/2003.09041
best_oa_location.version	submittedVersion
best_oa_location.raw_type	text
best_oa_location.license_id
best_oa_location.is_accepted	False
best_oa_location.is_published	False
best_oa_location.raw_source_name
best_oa_location.landing_page_url	http://arxiv.org/abs/2003.09041
primary_location.id	doi:10.1109/iros45743.2020.9341007
primary_location.is_oa	False
primary_location.source
primary_location.license
primary_location.pdf_url
primary_location.version	publishedVersion
primary_location.raw_type	proceedings-article
primary_location.license_id
primary_location.is_accepted	True
primary_location.is_published	True
primary_location.raw_source_name	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
primary_location.landing_page_url	https://doi.org/10.1109/iros45743.2020.9341007
publication_date	2020-10-24
publication_year	2020
referenced_works	https://openalex.org/W2892249564, https://openalex.org/W2968365797, https://openalex.org/W2145461394, https://openalex.org/W2136114880, https://openalex.org/W2116054567, https://openalex.org/W2210895635, https://openalex.org/W2566418759, https://openalex.org/W2567093931, https://openalex.org/W2566688939, https://openalex.org/W2794046143, https://openalex.org/W2765146060, https://openalex.org/W2911116303, https://openalex.org/W2142243458, https://openalex.org/W1583808776, https://openalex.org/W2167340365, https://openalex.org/W6725926548, https://openalex.org/W3083782279, https://openalex.org/W2963108722, https://openalex.org/W627856671, https://openalex.org/W2125097724, https://openalex.org/W2152467266, https://openalex.org/W3287648, https://openalex.org/W1542112886, https://openalex.org/W1994102944, https://openalex.org/W1578294898, https://openalex.org/W2020934227, https://openalex.org/W6756486208, https://openalex.org/W2127972053, https://openalex.org/W2515962926, https://openalex.org/W2901136733, https://openalex.org/W2050417268, https://openalex.org/W2164139712
referenced_works_count	32
abstract_inverted_index.a	7, 15, 22, 44, 75, 81, 135
abstract_inverted_index.In	0, 68
abstract_inverted_index.We	27
abstract_inverted_index.as	38, 40
abstract_inverted_index.be	132
abstract_inverted_index.in	46, 113, 117
abstract_inverted_index.is	14
abstract_inverted_index.it	63
abstract_inverted_index.of	24, 34, 43, 77, 83, 108
abstract_inverted_index.on	90, 127
abstract_inverted_index.to	21, 64, 70
abstract_inverted_index.we	3, 49, 79, 103
abstract_inverted_index.100	25
abstract_inverted_index.All	123
abstract_inverted_index.and	31, 57, 97, 110, 120, 129
abstract_inverted_index.for	74
abstract_inverted_index.its	72
abstract_inverted_index.our	84, 111
abstract_inverted_index.the	29, 41, 51, 105, 121
abstract_inverted_index.via	100
abstract_inverted_index.AUV,	6, 19
abstract_inverted_index.LoCO	5, 13
abstract_inverted_index.Open	9
abstract_inverted_index.code	130
abstract_inverted_index.open	30
abstract_inverted_index.this	1, 35, 115
abstract_inverted_index.well	39
abstract_inverted_index.will	131
abstract_inverted_index.LoCO,	91
abstract_inverted_index.depth	23
abstract_inverted_index.diver	95
abstract_inverted_index.local	54
abstract_inverted_index.order	69
abstract_inverted_index.paper	2
abstract_inverted_index.rated	20
abstract_inverted_index.robot	98, 116
abstract_inverted_index.state	58
abstract_inverted_index.under	134
abstract_inverted_index.using	114
abstract_inverted_index.which	61
abstract_inverted_index.design	33, 42, 124
abstract_inverted_index.enable	62
abstract_inverted_index.lakes,	119
abstract_inverted_index.motion	55
abstract_inverted_index.ocean.	122
abstract_inverted_index.pools,	118
abstract_inverted_index.robot,	37
abstract_inverted_index.tasks,	78
abstract_inverted_index.Gazebo.	47
abstract_inverted_index.control	56
abstract_inverted_index.discuss	28, 104
abstract_inverted_index.explore	50
abstract_inverted_index.meters.	26
abstract_inverted_index.motion.	101
abstract_inverted_index.perform	65
abstract_inverted_index.present	4
abstract_inverted_index.variety	76, 82
abstract_inverted_index.Finally,	102
abstract_inverted_index.Vehicle.	12
abstract_inverted_index.concerns	107
abstract_inverted_index.control,	94
abstract_inverted_index.details,	125
abstract_inverted_index.gestural	93
abstract_inverted_index.license.	138
abstract_inverted_index.released	133
abstract_inverted_index.Low-Cost,	8
abstract_inverted_index.assembly,	128
abstract_inverted_index.implement	80
abstract_inverted_index.including	92
abstract_inverted_index.maneuvers	66
abstract_inverted_index.practical	106
abstract_inverted_index.presented	86
abstract_inverted_index.simulator	45
abstract_inverted_index.Autonomous	10
abstract_inverted_index.Underwater	11
abstract_inverted_index.abilities,	60
abstract_inverted_index.deployment	109
abstract_inverted_index.estimation	59
abstract_inverted_index.expandable	32
abstract_inverted_index.following,	96
abstract_inverted_index.platform's	52
abstract_inverted_index.previously	85
abstract_inverted_index.underwater	36
abstract_inverted_index.usefulness	73
abstract_inverted_index.demonstrate	71
abstract_inverted_index.experiences	112
abstract_inverted_index.human-robot	87
abstract_inverted_index.interaction	88
abstract_inverted_index.open-source	137
abstract_inverted_index.permissive,	136
abstract_inverted_index.preliminary	53
abstract_inverted_index.capabilities	89
abstract_inverted_index.instructions	126
abstract_inverted_index.Additionally,	48
abstract_inverted_index.autonomously.	67
abstract_inverted_index.communication	99
abstract_inverted_index.vision-guided	18
abstract_inverted_index.general-purpose,	16
abstract_inverted_index.single-person-deployable,	17
cited_by_percentile_year.max	96
cited_by_percentile_year.min	89
countries_distinct_count	1
institutions_distinct_count	11
sustainable_development_goals[0].id	https://metadata.un.org/sdg/14
sustainable_development_goals[0].score	0.8399999737739563
sustainable_development_goals[0].display_name	Life below water
citation_normalized_percentile.value	0.64827941
citation_normalized_percentile.is_in_top_1_percent	False
citation_normalized_percentile.is_in_top_10_percent	False