Related papers: Enhancing AUV Autonomy With Model Predictive Path …
Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (\eg surveillance, inspection, and search-and-rescue) require…
Landing a multirotor unmanned aerial vehicle (UAV) on an uncrewed surface vessel (USV) extends the operational range and offers recharging capabilities for maritime and limnology applications, such as search-and-rescue and environmental…
This paper introduces a novel nonlinear stochastic model predictive control path integral (MPPI) method, which considers chance constraints on system states. The proposed belief-space stochastic MPPI (BSS-MPPI) applies Monte-Carlo sampling…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
Model Predictive Path Integral (MPPI) control is a widely used sampling-based method for trajectory optimization, yet its convergence properties remain only partially understood. This paper provides a direct convergence analysis using…
Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, though convenient and quick to obtain,…
This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A key component of our framework is a novel hybrid planner that…
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…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
Autonomous drone racing requires the tight coupling of perception, planning, and control under extreme agility. However, recent approaches typically rely on precomputed spatial reference trajectories or explicit 6-DoF gate pose estimation,…
Controlling a fleet of autonomous underwater vehicles can be challenging due to low bandwidth communication between agents. This paper proposes to address this challenge by optimizing the quantization design of the communications between…
Model predictive control (MPC) has proven useful in enabling safe and optimal motion planning for autonomous vehicles. In this paper, we investigate how to achieve MPC-based motion planning when a neural state-space model represents the…
This study investigates the efficiency and safety outcomes of implementing different adaptive coordination models for automated vehicle (AV) fleets, managed by a centralized coordinator that dynamically responds to human-controlled vehicle…
Flapping-fin unmanned underwater vehicle (UUV) propulsion systems provide high maneuverability for naval tasks such as surveillance and terrain exploration. Recent work has explored the use of time-series neural network surrogate models to…
Safe decision-making algorithms for control of mobile robots often require the existence of feedback to verify the safety of proposed actions. This feedback is assumed to be directly available during the development or deployment of the…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
This paper studies an optimal autonomous underwater vehicule (AUV) path planning method for both reducing average delay before pollutants detection in underwater mining, oil or gas fields and reducing AUV occupancy time. The proposed…
While classical autonomous navigation systems can typically move robots from one point to another safely and in a collision-free manner, these systems may fail or produce suboptimal behavior in certain scenarios. The current practice in…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and…