This repository contains the design files, operational codes, and digital twin system's packages for the CavePI AUV (Autonomous Underwater Vehicle) from the RoboPI group at ECE, UF. The paper is accepted for publication at the Robotics: Science and Systems (RSS-2025).

Resources

• Pointers: [ArXiv Pre-print] [Project Page] [Video Demo]
• The subdirectories contain the following
  • CAD_designs: Contains the SolidWork design files for all the parts used to build CavePI.
  • auv_nano: Contains the codes for CavePI's onboard Jetson device.
  • auv_rpi: Contains the codes for CavePI's onboard Raspberry Pi 5 device.
  • auv_dt: Contains the codes for ROS-Gazebo based digital twin (DT) of CavePI.

License and Bibliography

• Please check the LICENSE file
• Citation entry:

  @inproceedings{gupta2025demonstrating,
   title={Demonstrating CavePI: Autonomous Exploration of Underwater Caves by Semantic Guidance},
   author={Gupta, Alankrit and Abdullah, Adnan and Li, Xianyao and Ramesh, Vaishnav and Rekleitis, Ioannis and Islam, Md Jahidul},
   booktitle={Robotics: Science and Systems (RSS)},
   year={2025}
  }
  

Acknowledgements

This research is supported in part by the U.S. National Science Foundation (NSF) grants #2330416, #2024741, and #1943205; and the University of Florida (UF) Research grant #132763. We are thankful to Dr. Nare Karapetyan, Ruo Chen, and David Blow for facilitating our field trials at Ginnie open-water springs and Blue Grotto.