4 accepted papers
Close-proximity inspection of underwater cylindrical structures is challenging due to nonlinear vehicle dynamics, flow disturbances, and payload uncertainty. Fixed-weight MPC provides structured constraint handling but lacks adaptivity, while model-free RL is adaptive but often unstable and unsafe u…
Forward-looking sonar (FLS) enables long-range underwater sensing. In FLS-based 3-D reconstruction, falsely inclined surfaces arise from elevation ambiguity caused by the finite vertical beamwidth. Existing approaches mitigate these errors using multi-pass strategies, but they require repeated obser…
Precise close-contact inspections are critical in underwater environments, where complex dynamics and biofouling present significant challenges for conventional vehicles. To address these issues, this study proposes a Reinforcement Learning (RL)-based framework to optimize the gait of an underwater
We designed a manipulation purpose small agent vehicle and performed a ghost net recovery mission with the vehicle to test its control accuracy and capacity to be used in other tasks. We constructed a control model that allows the vehicle to perform the complex motion of 4-degrees-of-freedom (DOF) m…