相关论文: A Survey on Sensor-based Planning and Control for …

Underwater Unmanned Vehicles (UUVs) have to constantly compensate for the external disturbing forces acting on their body. Adaptive Control theory is commonly used there to grant the control law some flexibility in its response to process…

Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often…

Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…

Recent development in wireless communications has provided many reliable solutions to emergency response issues, especially in scenarios with dysfunctional or congested base stations. Prior studies on underwater emergency communications,…

Uncrewed Aerial Vehicles (UAVs) are a leading choice of platforms for a variety of information-gathering applications. Sensor planning can enhance the efficiency and success of these types of missions when coupled with a higher-level…

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…

In recent years, Unmanned Surface Vehicles (USV) have been extensively deployed for maritime applications. However, USV has a limited detection range with sensor installed at the same elevation with the targets. In this research, we propose…

The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…

Unmanned ground vehicles have a huge development potential in both civilian and military fields, and have become the focus of research in various countries. In addition, high-precision, high-reliability sensors are significant for UGVs'…

This paper discusses opportunities to parallelize graph based path planning algorithms in a time varying environment. Parallel architectures have become commonplace, requiring algorithm to be parallelized for efficient execution. An…

Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…

At shipping ports, some repetitive maneuvering tasks such as entering/leaving port, transporting goods inside it or just making surveillance activities, can be efficiently and quickly carried out by a domestic pilot according to his…

Landing a multirotor unmanned aerial vehicle (UAV) on an uncrewed surface vessel (USV) extends the operational range and offers recharging capabilities for maritime and limnology applications, such as search-and-rescue and environmental…

Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality…

Collaborative planning under operational constraints is an essential capability for heterogeneous robot teams tackling complex large-scale real-world tasks. Unmanned Aerial Vehicles (UAVs) offer rapid environmental coverage, but flight time…

Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…

Uncrewed Surface Vehicles (USVs) are a popular and efficient type of marine craft that find application in a large number of water-based tasks. When multiple USVs operate in the same area, they may be required to dock to each other to…

Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…

This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…