Technical Design Review of Duke Robotics Club's Oogway: An AUV for RoboSub 2024

The Duke Robotics Club is proud to present our robot for the 2024 RoboSub Competition: Oogway. Now in its second year, Oogway has been dramatically upgraded in both its capabilities and reliability. Oogway was built on the principle of independent, well-integrated, and reliable subsystems. Individua...

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Bibliographic Details
Main Authors:	Denton, Will, Bryant, Michael, Chiavetta, Lilly, Shah, Vedarsh, Zhu, Rico, Xue, Philip, Chen, Vincent, Lin, Maxwell, Le, Hung, Camacho, Austin, Galvez, Raul, Yang, Nathan, Ren, Nathanael, Rose, Tyler, Chu, Mathew, Ergashev, Amir, Arya, Saagar, Pieter, Kaelyn, Horowitz, Ethan, Allampallam, Maanav, Zheng, Patrick, Kaarls, Mia, Wood, June
Format:	Journal Article
Language:	English
Published:	12-10-2024
Subjects:	Computer Science - Robotics
Online Access:	Get full text
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Summary:	The Duke Robotics Club is proud to present our robot for the 2024 RoboSub Competition: Oogway. Now in its second year, Oogway has been dramatically upgraded in both its capabilities and reliability. Oogway was built on the principle of independent, well-integrated, and reliable subsystems. Individual components and subsystems were tested and designed separately. Oogway's most advanced capabilities are a result of the tight integration between these subsystems. Such examples include a re-envisioned controls system, an entirely new electrical stack, advanced sonar integration, additional cameras and system monitoring, a new marker dropper, and a watertight capsule mechanism. These additions enabled Oogway to prequalify for Robosub 2024.
DOI:	10.48550/arxiv.2410.09684