5 accepted papers
Azimuth thrusters are widely used for controlling marine vehicles, especially, for dynamic positioning and hovering purposes. However, including azimuth thruster makes control allocation a nonlinear non-convex problem which is commonly solved using nonlinear programming methods, simplified by paring
This letter proposes an adaptive radial basis function neural network (RBF NN) based scheme for the dynamics learning and tracking control problems of a soft trunk robot. Specifically, a low-order approximate model describing the soft robot's dynamics is first derived with the finite element method
Underwater robots, like Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs), are promising tools for the exploration and study of the under-ice environment and the ecosystems that thrive there. However, state estimation is a well-known problem for robotic systems, especially,…
An adaptive sensing method is presented to control the pinging interval of a downward-looking sonar on an Autonomous Underwater Vehicle. The goal is to conserve energy via adjusting the pinging rate automatically without reducing the localization accuracy when using terrain-aided navigation (TAN). I…
It is important to register oceanographic data into a geo-referenced coordinate system. Knowing the location of the sampling is critical. For a marine robotic network, the location of Unmanned Surface Vessels (USVs) can be measured using a Global Positioning System (GPS), however the navigation of A…