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Technical Design Review of Duke Robotics Club's Oogway & Crush: AUVs for RoboSub 2026

Published on Jul 20cs.RO

Authors

Do you know Patrick Zheng?You can claim authorship or link another user.Do you know Saagar Arya?You can claim authorship or link another user.Do you know Hung Le?You can claim authorship or link another user.Do you know Mathew Chu?You can claim authorship or link another user.Do you know Nathanael Ren?You can claim authorship or link another user.Do you know Niko Weaver?You can claim authorship or link another user.Do you know Isabella Chen?You can claim authorship or link another user.Do you know Jill Wang?You can claim authorship or link another user.Do you know Raine Cheng?You can claim authorship or link another user.Do you know Siddharth Kini?You can claim authorship or link another user.Do you know Avrick Altmann?You can claim authorship or link another user.Do you know Srinath Iyer?You can claim authorship or link another user.Do you know Ivan Chen?You can claim authorship or link another user.Do you know Ian Suh?You can claim authorship or link another user.Do you know Parker Jones?You can claim authorship or link another user.Do you know Pierson Jones?You can claim authorship or link another user.Do you know Sebastian deSouza?You can claim authorship or link another user.Do you know Suhaani Sriram?You can claim authorship or link another user.Do you know Suvas Aggarwal?You can claim authorship or link another user.

Abstract

The Duke Robotics Club presents Oogway and Crush, our AUVs for RoboSub 2026. This year's strategy expands on our previously narrowed scope, targeting all four of RoboSub's design goals for the first time: movement, vision, manipulation, and acoustic tracking. This expansion is based on sustained reliability investment across all three subsystems. Mechanically, Crush gained two additional thrusters and a CFD-optimized case, providing pitch stability. Electrically, we addressed accumulated failure points by repairing unreliable connections and upgraded thruster control hardware. We also redesigned our acoustics system, adding a new custom PCB with higher-order filters, significantly improving pinger detection reliability. On the software side, improvements to state estimation, sonar-based object detection, vision-driven task planning, and IVC enable more capable and coordinated autonomous runs. Paired with investments in our testing infrastructure to maximize our limited pool time, we can now attempt a broader set of tasks while maintaining the reliability our competition strategy demands.

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