Related papers: Assessing the Ship Motion Prediction Capabilities …
In the field of Maritime Autonomous Surface Ships (MASS), the accurate modeling of ship maneuvering motion for harbor maneuvers is a crucial technology. Non-parametric system identification (SI) methods, which do not require prior knowledge…
A new operational, ensemble-based search and rescue model for the Norwegian Sea and the North Sea is presented. The stochastic trajectory model computes the net motion of a range of search and rescue objects. A new, robust formulation for…
The global ocean model NEMO is run in a series of stand-alone configurations (2015-2022) to investigate the potential for improving global medium-range storm surge forecasts by including the inverse barometer effect. The analysis focus on…
Navigation among movable obstacles (NAMO) is a critical task in robotics, often challenged by real-world uncertainties such as observation noise, model approximations, action failures, and partial observability. Existing solutions…
Near Rectilinear Halo Orbits (NRHOs), a subclass of halo orbits around the L1 and L2 Lagrange points, are promising candidates for future lunar gateways in cis-lunar space and as staging orbits for lunar missions. Closed-loop control is…
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…
The real-time prediction of floating offshore asset behavior under stochastic metocean conditions remains a significant challenge in offshore engineering. While traditional empirical and frequency-domain methods work well in benign…
Multimarginal optimal transport (MOT) is a powerful framework for modeling interactions between multiple distributions, yet its applicability is bottlenecked by a high computational overhead. Entropic regularization provides computational…
Critical evaluation and understanding of ship responses in the ocean is important for not only the design and engineering of future platforms but also the operation and safety of those that are currently deployed. Simulations or experiments…
Estimating and reacting to disturbances is crucial for robust flight control of quadrotors. Existing estimators typically require significant tuning for a specific flight scenario or training with extensive ground-truth disturbance data to…
Real-time motion prediction of a vessel or a floating platform can help to improve the performance of motion compensation systems. It can also provide useful early-warning information for offshore operations that are critical with regard to…
Recent research has demonstrated Reservoir Computing's capability to model various chaotic dynamical systems, yet its application to Hamiltonian systems remains relatively unexplored. This paper investigates the effectiveness of Reservoir…
Predicting the future trajectory of agents from visual observations is an important problem for realization of safe and effective navigation of autonomous systems in dynamic environments. This paper focuses on two important aspects of…
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…
We present HYMOR (HYpersonic MOdal/non-modal, and Receptivity), an open-source computational framework for the linear stability analysis of high-enthalpy hypersonic flows. The toolkit includes MATLAB and Julia implementations and is…
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…
Ship roll motion in high sea states has large amplitudes and nonlinear dynamics, and its prediction is significant for operability, safety, and survivability. This paper presents a novel data-driven methodology to provide a multi-step…
Unmanned boats, while navigating at sea, utilize active compensation systems to mitigate wave disturbances experienced by onboard instruments and equipment. However, there exists a lag in the measurement of unmanned boat attitudes, thus…
The maritime industry aims towards a sustainable future, which requires significant improvements in operational efficiency. Current approaches focus on minimising fuel consumption and emissions through greater autonomy. Efficient and safe…
This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown dynamics, which are difficult to infer from visual…