R.H. Whalen

Papers

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About

R.H. Whalen is a leading figure in autonomous underwater vehicle (AUV) research, with a career focused on bridging the gap between theoretical robotics architectures and real-world marine operations. His primary contributions lie in the development and integration of software for AUVs, particularly the NPS Phoenix—a student-built research testbed designed for shallow-water minefield mapping. Whalen’s most cited work, "NPS Phoenix AUV software integration and in-water testing" (2002, 19 citations), details the implementation of a rational behavior model robot architecture across execution, tactical, and strategic levels. This paper is notable for its emphasis on simulation-based design, using an underwater virtual environment to validate control systems before costly in-water trials. By systematically integrating software with hardware and demonstrating successful field tests, Whalen provided a practical blueprint for AUV autonomy that has influenced subsequent student projects and defense-related marine robotics. His work underscores the importance of iterative, simulation-to-field methodologies, making him a key contributor to the advancement of reliable, mission-ready autonomous systems.