Enabling human-robot cooperation in scientific exploration of bandwidth-limited environments

Abstract

None of this work would have been possible without the guidance and support of my co-supervisors, Dr. Yogesh Girdhar and Prof. Jonathan How. They have been exceedingly generous in giving their time, encouragement, and advice in matters both technical and related to professional development. I feel very grateful for the combined breadth and depth of their backgrounds, experiences, and technical knowledge, as this has been instrumental in allowing me to pursue such a cross-disciplinary and complex topic as co-robotic scientific exploration. I would next like to thank all of my collaborators and peers involved in the research and discussion of the work and ideas presented in this thesis. My fellow members of the WARPLab and the Autonomous Controls Lab always created a positive, supportive, and productive atmosphere to work in, one I missed when working from home due to current world affairs. I'd like to particularly thank Vv, John, Genevieve, Victoria, Mike, Kaveh, Kasra, and Kevin for many long discussions and useful advice on the topics and ideas presented in this work. I'd also like to thank Nathan, Brian, and Stefano for their invaluable technical advice and support. Alongside them are all the others at MIT, WHOI, and in the MIT-WHOI Joint Program who have been excellent friends to me since coming to MA and made me feel at home in a new country. Lastly, I would like to thank my family. In particular, my partner Victoria who provides me with constant support and inspires me with her incredible work ethic and dedication, as well my mom and dad and my brother Chris, whose love and encouragement have been ever-present and invaluable. I'd also like to thank Suzy and the rest of my extended family, who have likewise been major sources of support in both the best and worst of times. Finally, I dedicate this thesis in memory of my grandparents Chris & Molly, who were each deeply loved and are deeply missed; they always brought out the very best in me.