Related papers: Laboratory test results underwater navigation syst…
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…
Accurate modeling of ship performance is crucial for the shipping industry to optimize fuel consumption and subsequently reduce emissions. However, predicting the speed-power relation in real-world conditions remains a challenge. In this…
The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended…
In this paper we are concerned with the error-covariance lower-bounding problem in Kalman filtering: a sensor releases a set of measurements to the data fusion/estimation center, which has a perfect knowledge of the dynamic model, to allow…
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…
This paper proposes an intelligent system concept for automatic monitoring of aquatic en-vironment main parameters in order to detect their anomalies and assess quantitative and qualitative indicators, including the determination of the…
We consider the problem of observer design for a nonholonomic car (more generally a wheeled robot) equipped with wheel speeds with unknown wheel radius, and whose position is measured via a GNSS antenna placed at an unknown position in the…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
We describe a simple experimental implementation of the Malkus-Lorenz water wheel. We demonstrate that both chaotic and periodic behavior is found as wheel parameters are changed in agreement with predictions from the Lorenz model. We…
A deterministic evaluation procedure for multi-port direction finding antennas is proposed. It is based on a direction finding uncertainty parameter, which describes how well different directions of arrival and polarizations are…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…
Learning the dynamics of robots from data can help achieve more accurate tracking controllers, or aid their navigation algorithms. However, when the actual dynamics of the robots change due to external conditions, on-line adaptation of…
Non-parametric system identification with Gaussian Processes for underwater vehicles is explored in this research with the purpose of modelling autonomous underwater vehicle (AUV) dynamics with low amount of data. Multi-output Gaussian…
Evaluating the effectiveness and benefits of driver assistance systems is essential for improving the system performance. In this paper, we propose an efficient evaluation method for a semi-autonomous lane departure correction system. To…
Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This paper provides the mechanical, electrical, and software design of a novel UVMS equipped with…
Estimating ocean flow fields in 3D is a critical step in enabling the reliable operation of underwater gliders and other small, low-powered autonomous marine vehicles. Existing methods produce depth-averaged 2D layers arranged at discrete…
The aim of this work is to develop a model-based methodology for monitoring lateral track irregularities based on the use of inertial sensors mounted on an in-service train. To this end, a gyroscope is used to measure the wheelset yaw…
Land vehicle navigation based on inertial navigation system (INS) and odometers is a classical autonomous navigation application and has been extensively studied over the past several decades. In this work, we seriously analyze the error…
Variational wave function ansatze are an invaluable tool to study the properties of strongly correlated systems. We propose such a wave function, based on the theory of auxiliary fields and combining aspects of auxiliary-field quantum Monte…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…