相关论文: Ocean Plume Tracking with Unmanned Surface Vessels…

Atmospheric turbulence, especially in the near-surface boundary layer is known to be under-sampled due to the need to capture a wide separation in length and time-scales and limitation in the number of sensors. Over the past decade, the use…

Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key…

We propose a nonlinear random walk model to describe the dynamics of dense contaminant plumes in porous media. A coupling between concentration and velocity fields is found, so that transport displays non-Fickian features. The qualitative…

In this paper we address the mine countermeasures (MCM) search problem for an autonomous underwater vehicle (AUV) surveying the seabed using a side-looking sonar. We propose a coverage path planning method that adapts the AUV track spacing…

Uncontrolled emissions of gases from industrial accidents and disasters result in huge loss of life and property. Such extreme events require a quick and reliable survey of the site for effective rescue strategy planning. To achieve these…

This paper presents a novel efficient method for spatial monitoring of the distribution of correlated field signals, such as temperature, humidity, etc. using unmanned aerial vehicles (UAVs). The spatial signal is compressed to its…

Autonomous systems such as Unmanned Aerial Vehicles (UAVs) need to be able to recognise and track crowds of people, e.g. for rescuing and surveillance purposes. Large groups generate multiple measurements with uncertain origin.…

The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…

Atmospheric modeling has recently experienced a surge with the advent of deep learning. Most of these models, however, predict concentrations of pollutants following a data-driven approach in which the physical laws that govern their…

Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…

Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of electronics. In this…

This paper examines the IDM microscopic car-following model from a dynamical systems perspective, analyzing the effects of delay on congestion formation. Further, a case of mixed-autonomy is considered by controlling one car with…

Single-molecule tracking is a powerful way to look at the dynamic organization of plasma membranes. However, there are some limitations to its use. For example, it was recently observed, using numerical simulation, that time-averaging…

Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…

Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…

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…

Field trials of a 4 meter long, 180 kilogram, unmanned surface vehicle (USV) have been conducted to evaluate the performance of station-keeping heading and position controllers in an outdoor marine environment disturbed by wind and current.…

Accurate modeling of contamination in subsurface flow and water aquifers is crucial for agriculture and environmental protection. Here, we demonstrate a parallel method to quantify the propagation of the uncertainty in the dispersal of…

The preservation, monitoring, and control of water resources has been a major challenge in recent decades. Water resources must be constantly monitored to know the contamination levels of water. To meet this objective, this paper proposes a…

Remote sensing analysts continuously monitor the amount of pollutants in the atmosphere. They are usually performed via satellite images. However, these images suffer from low temporal and low spatial resolution. Therefore, observations…