Related papers: Ocean Plume Tracking with Unmanned Surface Vessels…
Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in…
Recent instrumentation has demonstrated that the solar atmosphere supports omnipresent transverse waves, which could play a key role in energizing the solar corona. Large-scale studies are required in order to build up an understanding of…
Target tracking plays a crucial role in real-world scenarios, particularly in drug-trafficking interdiction, where the knowledge of an adversarial target's location is often limited. Improving autonomous tracking systems will enable…
Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch. There have been several recent works…
An experimental study of the tracer dispersion in a complex structure is presented. A point source of tracer (dyed salt) was placed inside a multi-compartment structure embedded in water tank. This experimental setting corresponds to a…
We present a flow-matching planner for autonomous driving that directly outputs actionable control trajectories defined by acceleration and curvature profiles. The model is conditioned on a bird's-eye-view (BEV) raster of the surrounding…
This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…
Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
Marine debris poses a significant ecological threat to birds, fish, and other animal life. Traditional methods for assessing debris accumulation involve labor-intensive and costly manual surveys. This study introduces a framework that…
Spectrograms provide an efficient way to analyse surface elevation signals of ship waves taken from a sensor fixed at a single point in space. Recent work based on a simplified model for the ship's disturbance suggests that matching the…
We briefly review recent progress in techniques for modeling and analyzing hyperspectral images and movies, in particular for detecting plumes of both known and unknown chemicals. For detecting chemicals of known spectrum, we extend the…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
Experimental observations of turbulent buoyant plumes, produced by a constant source of buoyancy, have been described with great success using a horizontally averaged model for the conservation of mass, momentum and buoyancy flux. However,…
Buoyant plumes are encountered in both natural and artificial scenarios, ranging from volcanic ash clouds and wildfires to smoke from chimneys and industrial pollutant discharge to rivers and lakes. These plumes are driven by the buoyancy…
Vehicles in developing countries have widely varying dimensions and speeds, and drivers tend to not follow lane discipline. In this flow state called "mixed traffic", the interactions between drivers and the resulting maneuvers resemble…
A method enabling automatic detection and tracking of large amounts of individual dust particles in plasmas is presented. Individual trajectories can be found with a good spatiotemporal resolution, even without applying any external light…
We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…
Traffic congestion and violations pose significant challenges for urban mobility and road safety. Traditional traffic monitoring systems, such as fixed cameras and sensor-based methods, are often constrained by limited coverage, low…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…