相关论文: Ocean Plume Tracking with Unmanned Surface Vessels…
The paper presents an approach to olfactory search for a diffusive emitting source of tracer (e.g. aerosol, gas) in an environment with unknown map of randomly placed and shaped obstacles. The measurements of tracer concentration are…
Identifying the location and characteristics of pollution sources in turbulent flows is challenging, especially for environmental monitoring and emergency response, due to sparse, stochastic, and infrequent cue detection. Even in idealized…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
This paper addresses novel applications to practical modeling of the newly developed theory of necessary optimality conditions in controlled sweeping/Moreau processes with free time and pointwise control and state constraints. Problems of…
Accurate and cost effective mapping of water bodies has an enormous significance for environmental understanding and navigation. However, the quantity and quality of information we acquire from such environmental features is limited by…
This paper presents a prototype of a low-cost Unmanned Surface Vehicle (USV) that is operated by wave and solar energy which can be used to minimize the cost of ocean data collection. The current prototype is a compact USV, with a length of…
Self-driving vehicles have the potential to reduce accidents and fatalities on the road. Many production vehicles already come equipped with basic self-driving capabilities, but have trouble following lanes in adverse lighting and weather…
Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear model predictive control (MPC) showing potential in addressing…
Photovoltaic (PV) panels are becoming increasingly widespread in the domain of renewable energy, and thus, small efficiency gains can have massive effects. Anti-reflective and self-cleaning coatings enhance panel performance but degrade…
Recently, there has been an upsurge in the research on maritime vision, where a lot of works are influenced by the application of computer vision for Unmanned Surface Vehicles (USVs). Various sensor modalities such as camera, radar, and…
This paper addresses the problem of tracking in-plane waves from image sequences using periodic surface patterns. Wave-induced deformation is modeled as a spatial phase modulation of a periodic carrier. We propose ADOPT (Analytical…
Underwater gliders are increasingly deployed in challenging missions - such as hurricane-season observations and long-endurance environmental monitoring - where strong currents and turbulence pose significant risks to navigation safety. To…
The isoline tracking of this work is concerned with the control design for a sensing robot to track a given isoline of an unknown 2-D scalar filed. To this end, we propose a coordinate-free controller with a simple PI-like form using only…
This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…
Learning to perform accurate and rich simulations of human driving behaviors from data for autonomous vehicle testing remains challenging due to human driving styles' high diversity and variance. We address this challenge by proposing a…
Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission…
Marine vehicles have been used for various scientific missions where information over features of interest is collected. In order to maximise efficiency in collecting information over a large search space, we should be able to deploy a…
The presence of stratified layer in atmosphere and ocean leads to buoyant vertical motions, commonly referred to as plumes. It is important to study the mixing dynamics of a plume at a local scale in order to model their evolution and…
Compact autonomous marine vehicles, both surface and submersible, are now commonly used to conduct observations of ocean velocities using Acoustic Doppler Current Profilers (ADCPs). However, in the inevitable presence of surface waves, ADCP…
Recent major oil-spills were tracked using observations with sufficient altitudes over the sea surface, to detect oil slick locations. For oil-spill responders, we propose a captive Unmanned Aerial System, UAS acting like a periscope over a…