相关论文: Ocean Plume Tracking with Unmanned Surface Vessels…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
Online approximation of the optimal station keeping strategy for a fully actuated six degrees-of-freedom marine craft subject to an irrotational ocean current is considered. An approximate solution to the optimal control problem is obtained…
We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…
Particle tracking in large-scale numerical simulations of turbulent flows presents one of the major bottlenecks in parallel performance and scaling efficiency. Here, we describe a particle tracking algorithm for large-scale parallel…
A particle tracking velocimetry apparatus is presented that is capable of measuring three-dimensional particle trajectories across large volumes, of the order of several meters, during natural snowfall events. Field experiments, aimed at…
Magnetic element tracking is often used to study the transport and diffusion of the magnetic field on the solar photosphere. From the analysis of the displacement spectrum of these tracers, it has been recently agreed that a regime of…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
Polymer brushes are increasingly used to tailor surface physicochemistry for various applications such as wetting, adhesion of biological objects, implantable devices, etc. We perform Dissipative Particle Dynamics simulations to study the…
We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…
Modelling and simulating mine countermeasures (MCM) search missions performed by autonomous vehicles equipped with a sensor capable of detecting mines at sea is a challenging endeavour. In this work, we present a novel way to model and…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
In the autonomous ocean monitoring task, the sampling robot moves in the environment and accumulates data continuously. The widely adopted spatial modeling method - standard Gaussian process (GP) regression - becomes inadequate in…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
For an autonomous surface vessel (ASV) to dock, it must track other vessels close to the docking area. Kayaks present a particular challenge due to their proximity to the dock and relatively small size. Maritime target tracking has…
This experimental study investigates the dynamics of surface washing to remove a passive tracer from a porous plate by a gravity-driven liquid film across its surface. A disodium fluorescein tracer is introduced at the surface of a…
Automated driving has become more and more popular due to its potential to eliminate road accidents by taking over driving tasks from humans. One of the remaining challenges is to follow a planned path autonomously, especially when…
This paper presents an engine able to predict jointly the real-time concentration of the main pollutants harming people's health: nitrogen dioxyde (NO2), ozone (O3) and particulate matter (PM2.5 and PM10, which are respectively the…
Bubble curtains are widely used for sound mitigation during offshore pile driving to protect marine life. However, the lack of well validated hydrodynamic models is a major factor in the inability to predict the sound attenuation of a…
Over the last decade, fluvial plastics have been identified as major threat to aquatic environments and human health. In order to develop adequate mitigation strategies for plastic pollution, a fundamental process understanding of riverine…