3 accepted papers
Concentric tube robots comprise telescopic precurved elastic tubes. The robot's tip and shape are controlled via relative tube motions, i.e. tube rotations and translations. Non-linear interactions between the tubes, e.g. friction and torsion, as well as uncertainty in the physical properties of the…
Autonomous Underwater Vehicles (AUVs) are required to carry out a mission with minimum supervision. Often, the AUV's hardware integrity is compromised amidst operation; thus, jeopardising the mission's success. Thruster failures, for example, may affect AUVs locomotion. Following a thruster failure,
This paper presents a filtering algorithm for non-linear systems in the case of sensor degradation. The algorithm adapts the relative importance of the sensor measurements, compared to the model predictions, in real time; yielding a filter that is robust to noisy observations and sensor blackouts. T…