相关论文: Modelling sand ripples in mine countermeasure simu…

The multi-beam measurement system plays a crucial role in ocean mapping and underwater terrain detection. By simultaneously transmitting multiple beams, the system can accurately receive sound waves reflected from the seabed, providing more…

We analyze theoretically the dynamics of aeolian sand ripples. In order to put the study in the context we first review existing models. We argue on the local character of sand ripple formation. Using a hydrodynamical model we derive a…

Catastrophic failures of marine engines imply severe loss of functionality and destroy or damage the systems irreversibly. Being sudden and often unpredictable events, they pose a severe threat to navigation, crew, and passengers. The…

We introduce an external control to reduce the size of avalanches in some sandpile models exhibiting self organized criticality. This rather intuitive approach seems to be missing in the vast literature on such systems. The control action,…

This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC)…

The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…

The hydrodynamic performance of a sea-going ship varies over its lifespan due to factors like marine fouling and the condition of the anti-fouling paint system. In order to accurately estimate the power demand and fuel consumption for a…

The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…

This paper proposes a real-time self-adaptive approach for accurate path loss estimation in underground mines or tunnels based on signal strength measurements from heterogeneous radio communication technologies. The proposed model features…

While the usual goal in Monte Carlo (MC) simulations of Ising models is the efficient generation of spin configurations with Boltzmann probabilities, the inverse problem is to determine the coupling constants from a given set of spin…

We establish an algorithm to learn feedback maps from data for a class of robust model predictive control (MPC) problems. The algorithm accounts for the approximation errors due to the learning directly at the synthesis stage, ensuring…

This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some…

Demand for high-performance, robust, and safe autonomous systems has grown substantially in recent years. These objectives motivate the desire for efficient safety-theoretic reasoning that can be embedded in core decision-making tasks such…

Safe navigation in real-time is challenging because engineers need to work with uncertain vehicle dynamics, variable external disturbances, and imperfect controllers. A common safety strategy is to inflate obstacles by hand-defined margins.…

This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…

Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of…

Stochastic optimal control, which has the goal of driving the behavior of noisy systems, is broadly applicable in science, engineering and artificial intelligence. Our work introduces Stochastic Optimal Control Matching (SOCM), a novel…

Cartesian-grid methods with Adaptive Mesh Refinement (AMR) are ideally suited for simulating the breaking of waves, the formation of spray, and the entrainment of air around ships. As a result of the cartesian-grid formulation, minimal…

Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…

Advancements in onboard computing mean remote sensing agents can employ state-of-the-art computer vision and machine learning at the edge. These capabilities can be leveraged to unlock new rare, transient, and pinpoint measurements of…