相关论文: Dynamic System Identification of Underwater Vehicl…

Noncritical soft-faults and model deviations are a challenge for Fault Detection and Diagnosis (FDD) of resident Autonomous Underwater Vehicles (AUVs). Such systems may have a faster performance degradation due to the permanent exposure to…

In conventional ODE modelling coefficients of an equation driving the system state forward in time are estimated. However, for many complex systems it is practically impossible to determine the equations or interactions governing the…

Leveraging autonomous systems in safety-critical scenarios requires verifying their behaviors in the presence of uncertainties and black-box components that influence the system dynamics. In this work, we develop a framework for verifying…

In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…

Detection of artificial objects from underwater imagery gathered by Autonomous Underwater Vehicles (AUVs) is a key requirement for many subsea applications. Real-world AUV image datasets tend to be very large and unlabelled. Furthermore,…

In this paper, we present a motion-based robotic communication framework that enables non-verbal communication among autonomous underwater vehicles (AUVs) and human divers. We design a gestural language for AUV-to-AUV communication which…

Surrogate models are often used to replace costly-to-evaluate complex coastal codes to achieve substantial computational savings. In many of those models, the hydrometeorological forcing conditions (inputs) or flood events (outputs) are…

Unmanned surface vehicles can encounter a number of varied visual circumstances during operation, some of which can be very difficult to interpret. While most cases can be solved only using color camera images, some weather and lighting…

The dynamic emulation of non-linear deterministic computer codes where the output is a time series, possibly multivariate, is examined. Such computer models simulate the evolution of some real-world phenomenon over time, for example models…

Gaussian process state-space models (GPSSMs) offer a principled framework for learning and inference in nonlinear dynamical systems with uncertainty quantification. However, existing GPSSMs are limited by the use of multiple independent…

The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…

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…

Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in…

Autonomous underwater vehicles (AUV) perform various applications such as seafloor mapping and underwater structure health monitoring. Commonly, an inertial navigation system aided by a Doppler velocity log (DVL) is used to provide the…

This note presents a unified analysis of the identification of dynamical systems with low-rank constraints under high-dimensional scaling. This identification problem for dynamic systems are challenging due to the intrinsic dependency of…

Autonomous racing is increasingly becoming a proving ground for autonomous vehicle technology at the limits of its current capabilities. The most prominent examples include the F1Tenth racing series, Formula Student Driverless (FSD),…

Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…

Autonomous underwater vehicles (AUVs) are regularly used for deep ocean applications. Commonly, the autonomous navigation task is carried out by a fusion between two sensors: the inertial navigation system and the Doppler velocity log…

We tackle the problem of system identification, where we select inputs, observe the corresponding outputs from the true system, and optimize the parameters of our model to best fit the data. We propose a practical and computationally…

The oceans in the Earth's in one of the last border lines on the World, with only a fraction of their depths having been explored. Advancements in technology have led to the development of Autonomous Underwater Vehicles (AUVs) that can…