4 accepted papers
This paper presents a novel control framework that integrates reservoir computing (RC) with Tube model predictive control (Tube-MPC) for robust path following in quadrotor autonomous underwater vehicles (QAUVs) under sudden fault conditions. The proposed RC-Tube-MPC leverages the dynamic modeling ca
In this paper, we propose novel edge and corner detection algorithms for unorganized point clouds. Our edge detection method evaluates symmetry in a local neighborhood and uses an adaptive density based threshold to differentiate 3D edge points. We extend this algorithm to propose a novel corner det…
Automatic welding of tubular TKY joints is an important and challenging task for the marine and offshore industry. In this paper, a framework for tubular joint detection and motion planning is proposed. The pose of the real tubular joint is detected using RGB-D sensors, which is used to obtain a rea…
In this paper, a modified entropy-based algorithm is proposed for identification and reconstruction of a complex weld geometry. The edge of the weld geometry is identified based on minimizing a modified entropy-type cost function, and the weld geometry is reconstructed based on the detected edge. In…