Related papers: Laboratory test results underwater navigation syst…
The defects of the traditional strapdown inertial navigation algorithms become well acknowledged and the corresponding enhanced algorithms have been quite recently proposed trying to mitigate both theoretical and algorithmic defects. In…
This paper presents a coupled, neural network-aided longitudinal cruise and lateral path-tracking controller for an autonomous vehicle with model uncertainties and experiencing unknown external disturbances. Using a feedback error learning…
The unscented Kalman filter is a nonlinear estimation algorithm commonly used in navigation applications. The prediction of the mean and covariance matrix is crucial to the stable behavior of the filter. This prediction is done by…
Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…
In underwater navigation, accurate heading information is crucial for accurately and continuously tracking trajectories, especially during extended missions beneath the waves. In order to determine the initial heading, a gyrocompassing…
There is a growing need to quickly and accurately identify anomalous behavior in ships. This paper applies a variation of the Density Based Spatial Clustering Among Noise (DBSCAN) algorithm to identify such anomalous behavior given a ship's…
Safety-critical navigation applications require that estimation errors be reliably quantified and bounded. This can be challenging for linear dynamic systems if the process noise or measurement errors have uncertain time correlation. In…
Accurate estimation of the Underwater acoustic (UWA) is a key part of underwater communications, especially for coherent systems. The severe multipath effects and large delay spreads make the estimation problem large-scale. The…
Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…
The purpose of navigation is to determine the position, velocity, and orientation of manned and autonomous platforms, humans, and animals. Obtaining accurate navigation commonly requires fusion between several sensors, such as inertial…
In this work, experiment design for marine vessels is explored. A dictionary-based approach is used, i.e., a systematic way of choosing the most informative combination of independent experiments out of a predefined set of candidates. This…
Leveraging empirical data is crucial in the development of accurate and reliable virtual models for the advancement of autonomous ship technologies and the optimization of port operations. This study presents an in-depth analysis of ship…
Underwater glider robots have become indispensable for ocean sampling, yet fully autonomous long-term operation remains rare in practice. Although stakeholders are calling for tools to manage increasingly large fleets of gliders, existing…
This paper presents a novel dataset for the development of visual navigation and simultaneous localisation and mapping (SLAM) algorithms as well as for underwater intervention tasks. It differs from existing datasets as it contains ground…
Navigating and localizing in partially observable, stochastic environments with magnetic anomalies presents significant challenges, especially when balancing the accuracy of state estimation and the stability of localization. Traditional…
Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…
Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-loop trajectory tracking algorithm are presented. Both…