5 accepted papers
We present a navigation framework to perform autonomous underwater docking to a wave energy converter (WEC) under various ocean conditions by incorporating flow state estimation into the design of model predictive control (MPC). Existing methods lack the ability to perform dynamic rendezvous and aut…
Kinodynamic motion planning enables autonomous robots to find efficient paths while minimizing energy expenditure and avoiding hazards in the environment. However, during plan execution, the controller may deviate from the collision-free path found by the planner due to discrepancies between plannin
Robots performing mobile manipulation in unstructured environments must identify grasp affordances quickly and with robustness to perception noise. Yet in domains such as underwater manipulation, where perception noise is severe, computation is constrained, and the environment is dynamic, existing t…
Accurate flow predictions are critical for energy-optimal path planning of AUVs with endurance requirements. However, the complex dynamics of ocean currents make it difficult to achieve accurate flow predictions. For an AUV with flow and location sensing capabilities, one can optimize vehicle action…
This paper considers a group of mobile sensing agents in a flow field and presents a distributed method for motion tomography (MT) that estimates the underlying flow field. MT formulates an underdetermined nonlinear system of equations as an inverse problem. Inspired by the Kaczmarz method which is…