Far, far below the deepest delving of the Icefall, the world is gnawed by nameless things.
— NOT from The Lord of the Rings: The Fellowship of the Ring
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Mothership - Meshed Observations of THE Remote Subsurface with Heterogeneous Intelligent Platforms
A proof-of-concept mothership-and-passenger system will be developed to permit the future deployment of a highly capable, autonomous underwater vehicle (the mothership), programmed to travel as far as safely possible under ice shelves to release a swarm of novel, low-cost passenger robots that will coordinate to explore further into the ice cavity.
Selected Papers:
K. Garg and X. Yu, “Hybrid topology control: a dynamic leader-based distributed edge-addition and deletion mechanism”. The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2026.
P. Dutta, G. Hollinger, and X. Yu, “Distributed Control and Communication Framework for Connectivity Preservation in Flow Driven Robot Fleets”. The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2026.
J. C. Garwood, X. Yu, G. A. Hollinger, P. B. Lundrigan, A. Muto, N. R. Rypkema, and Y. She, “Recent advances and opportunities for multi-robot systems in oceanography.” In Frontiers in Marine Science, 2026.
N. L. Butler, G. A. Hollinger, X. Yu, P. Dutta, A. Muto and J. C. Garwood, “Multi-Robot Coordination for Underwater Mothership-Passenger Systems.” In Frontiers in Robotics and AI, 2026.
Collaborators:
Dr. Jessica C. Garwood, Oregon State University
Dr. Geoffrey A. Hollinger, Oregon State University
Dr. Phil Lundrigan, Brigham Young University
Dr. Atsuhiro Muto, Temple University
Dr. Nicholas R Rypkema, Woods Hole Oceanographic Institution
Dr. Yu She, Purdue University
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