相关论文: Dynamic Autonomous Surface Vehicle Controls Under …

We present AutonoVi:, a novel algorithm for autonomous vehicle navigation that supports dynamic maneuvers and satisfies traffic constraints and norms. Our approach is based on optimization-based maneuver planning that supports dynamic…

This paper presents a three-dimensional (3D) energy-optimal path-following control design for autonomous underwater vehicles subject to ocean currents. The proposed approach has a two-stage control architecture consisting of the setpoint…

Autonomous robots are used as the tool to solve many kinds of problems, such as environmental mapping and monitoring. Either for adverse conditions related to the human presence or even for the need to reduce costs, it is certain that many…

This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…

Active visual perception refers to the ability of a system to dynamically engage with its environment through sensing and action, allowing it to modify its behavior in response to specific goals or uncertainties. Unlike passive systems that…

Intelligent detection and tracking of the vessels on the sea play a significant role in conducting traffic avoidance in unmanned surface vessels(USV). Current traffic avoidance software relies mainly on Automated Identification System (AIS)…

The integration of Maritime Autonomous Surface Ships (MASS) into global maritime operations represents a transformative shift in the shipping industry, promising enhanced safety, efficiency, and cost-effectiveness. However, the widespread…

This paper reports an investigation into the problem of rapid identification of a channel that crosses a body of water using one or more Unmanned Surface Vehicles (USV). A new algorithm called Proposal Based Adaptive Channel Search (PBACS)…

Autonomous vessels have emerged as a prominent and accepted solution, particularly in the naval defence sector. However, achieving full autonomy for marine vessels demands the development of robust and reliable control and guidance systems…

Moving loads such as cars and trains are very useful sources of seismic waves, which can be analyzed to retrieve information on the seismic velocity of subsurface materials using the techniques of ambient noise seismology. This information…

Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…

Unmanned Surface Vehicles (USVs) in the ocean environment, considering various spatiotemporal factors such as ocean currents and other energy consumption factors. The paper uses Gaussian Process Motion Planning (GPMP2), a Bayesian…

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…

The traditional build-and-expand approach is not a viable solution to keep roadway traffic rolling safely, so technological solutions, such as Autonomous Vehicles (AVs), are favored. AVs have considerable potential to increase the carrying…

In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…

This work demonstrates a new capability in roadway control: Speed-adaptive, infrastructure-linked connected and automated vehicles. We develop and deploy a lightly modified vehicle that is able to dynamically adjust the vehicle speed in…

This work presents a density-based framework for safe navigation in dynamic environments characterized by time-varying obstacle sets and time-varying target regions. We propose an analytical construction of time-varying density functions…

Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating…

We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…

Autonomous Driving Systems (ADSs) are complex Cyber-Physical Systems (CPSs) that must ensure safety even in uncertain conditions. Modern ADSs often employ Deep Neural Networks (DNNs), which may not produce correct results in every possible…