Sanjai Narain

Mission-Oriented Gaussian Process Motion Planning for UUVs Over Complex Seafloor Terrain and Current Flows

Wepresent a novel motion planning framework for unmanned underwater vehicles (UUVs) - the first framework that applies Gaussian process motion planning to solve a 3D path planning problem for a 6-DoF robot in underwater environments. We address missions requiring UUVs to remain in close proximity to