Morpheus: An A-sized AUV with morphing fins and algorithms for agile maneuvering. - Supun Randeni; Michael Sacarny; Michael R. Benjamin; Michael S. Triantafyllou (CoRR, 2022)

Perseus AUV: Towards Linear Convoying of Agile A-Sized AUVs Through Acoustic Track-and-Trail. - Nicholas R. Rypkema; Supun Randeni; Michael Sacarny; Michael Benjamin; Michael S. Triantafyllou (IROS, 2023)

A high-resolution AUV navigation framework with integrated communication and tracking for under-ice deployments. - Supun Randeni; Toby Schneider; EeShan C. Bhatt; Oscar A. Víquez; Henrik Schmidt (J. Field Robotics, 2023)