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For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…
Mobile robots should be capable of planning cost-efficient paths for autonomous navigation. Typically, the terrain and robot properties are subject to variations. For instance, properties of the terrain such as friction may vary across…
This paper proposes a machine learning method based on the Extra Trees (ET) algorithm for forecasting Significant Wave Heights in oceanic waters. To derive multiple features from the CDIP buoys, which make point measurements, we first…
The economic success of offshore wind energy projects relies on accurate projections of the construction, and operations and maintenance (O&M) costs. These projections must consider the logistical complexities introduced by adverse…
This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…
During the loading phase of a vessel, only the containers that are on top of their stack are directly accessible. If the container that needs to be loaded next is not the top container, extra moves have to be performed, resulting in an…
Drift vehicle control offers valuable insights to support safe autonomous driving in extreme conditions, which hinges on tracking a particular path while maintaining the vehicle states near the drift equilibrium points (DEP). However,…
Fish display remarkable swimming capabilities through the coordinated interaction of the body and caudal fin, yet the potential role of a passively pitching tail in enhancing hydrodynamic performance remains unresolved. In this work, we…
Real-time altitude control of airborne wind energy (AWE) systems can improve performance by allowing turbines to track favorable wind speeds across a range of operating altitudes. The current work explores the performance implications of…
In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing…
Dimensional analysis combined with limited experimental data for the performance of fully submerged propellers have been available since the 1950s. I present two new scale-free hydrodynamic predictions for the relative performance of both…
For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…
Pumping airborne wind energy (AWE) systems employ a kite to convert wind energy into electricity, through a cyclic reeling motion of the tether. The problem of computing the optimal reeling speed for the sake of maximizing the average cycle…
Autonomous underwater vehicles (AUVs) are subject to various sources of faults during their missions, which challenges AUV control and operation in real environments. This paper addresses fault-tolerant trajectory tracking of autonomous…
Tropical cyclone wind-intensity prediction is a challenging task considering drastic changes climate patterns over the last few decades. In order to develop robust prediction models, one needs to consider different characteristics of…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…
Quantifying the collision risk of birds and bats with offshore wind turbines requires an understanding of the drivers of flying animal behavior at offshore wind sites. An omnidirectional S-band radar system was deployed on a research barge…
Wind power is a clean and widely deployed alternative to reducing our dependence on fossil fuel power generation. Under this trend, more turbines will be installed in wind farms. However, the inspection of the turbines in an offshore wind…
This report first provides a brief overview of a number of supervised learning algorithms for regression tasks. Among those are neural networks, regression trees, and the recently introduced Nexting. Nexting has been presented in the…