Abstract
Technical Design Review of Duke Robotics Club's Oogway & Crush: AUVs for RoboSub 2026
- Authors
- Patrick Zheng, Saagar Arya, Hung Le...
- Categories
- cs.RO
Brief
Duke Robotics Club’s Oogway and Crush AUVs for RoboSub 2026 expand the team’s scope to cover movement, vision, manipulation, and acoustic tracking. Key changes include adding two thrusters and a CFD‑optimized hull for pitch stability, repairing electrical failure points and upgrading thruster controllers, and a new acoustics PCB with higher‑order filters. Software (state estimation, sonar/vision planners, IVC) and testing infrastructure improvements aim to preserve reliability. Only the paper abstract was provided.
Why it matters
Duke Robotics Club’s AUVs Oogway and Crush are being prepared to attempt all four RoboSub 2026 design goals—movement, vision, manipulation, and acoustic tracking—for the first time, expanding from the team’s previously narrowed scope.
Key details
- Mechanical and electrical upgrades: Crush received two additional thrusters and a CFD‑optimized case for improved pitch stability; the team repaired unreliable connections and upgraded thruster control hardware. Acoustics were redesigned with a custom PCB using higher‑order filters, reported to significantly improve pinger detection reliability.
- Software and testing improvements: enhanced state estimation, sonar‑based object detection, vision‑driven task planning, and IVC for coordinated autonomous runs, paired with investments in testing infrastructure to maximize limited pool time.