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Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
One of the unresolved challenges for autonomous vehicles is safe navigation among occluded pedestrians and vehicles. Previous approaches included generating phantom vehicles and assessing their risk, but they often made the ego vehicle…
This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral…
Typical marine environments are highly complex with spatio-temporally varying currents and dynamic obstacles, presenting significant challenges to Unmanned Surface Vehicles (USVs) for safe and efficient navigation. Thus, the USVs need to…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…
Though larger vessels may be well-equipped to deal with wavy conditions, smaller vessels are often more susceptible to disturbances. This paper explores the development of a nonlinear model predictive control (NMPC) system for Uncrewed…
Closed-loop control of turbulent flows is a challenging problem with important practical and fundamental implications. We perform closed-loop control of forced, turbulent jets based on a wave-cancellation strategy. The study is motivated by…
Forecasting ocean drift trajectories are important for many applications, including search and rescue operations, oil spill cleanup and iceberg risk mitigation. In an operational setting, forecasts of drift trajectories are produced based…
Wind- and current-driven flotsam, oil spills, pollutants, and nutrients, approaching the nearshore will frequently appear to park just beyond the break zone, where waves break. Moreover, the portion of these tracers that beach will do so…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
In this study, a novel coordinative scheduling optimization approach is proposed to enhance port efficiency by reducing weighted average turnaround time. The proposed approach is developed as a heuristic algorithm applied and investigated…
We demonstrate that a supply-chain level compromise of the adaptive cruise control (ACC) capability on equipped vehicles can be used to significantly degrade system level performance of current day mixed-autonomy freeway networks. Via a…
Marine corrosion significantly reduces a ship's availability, increases costs of operation and could impact safety. Protective coatings mitigate these risks, but their effectiveness deteriorates over time. Early detection of coating…
Every year hundreds of people die at sea because of vessel and airplane accidents. A key challenge in reducing the number of these fatalities is to make Search and Rescue (SAR) algorithms more efficient. Here we address this challenge by…
We investigate the problem of monitoring partially observable systems with nondeterministic and probabilistic dynamics. In such systems, every state may be associated with a risk, e.g., the probability of an imminent crash. During runtime,…
The Container Relocation Problem (CRP) is concerned with finding a sequence of moves of containers that minimizes the number of relocations needed to retrieve all containers respecting a given order of retrieval. While the problem is known…
Machine learning and statistical methods can improve conventional motor protection systems, providing early warning and detection of emerging failures. Data-driven methods rely on historical data to learn how the system is expected to…
Traditional reachability methods provide formal guarantees of safety under bounded disturbances. However, they strictly enforce state constraints as inviolable, which can result in overly conservative or infeasible solutions in complex…