Historical data is useful for navigation planning: data driven route generation for autonomous ship
This work presents a method for automated generation of navigation plan for autonomous or
robotic surface vessel. Historical Automatic Identification System (AIS) data is of significant …
robotic surface vessel. Historical Automatic Identification System (AIS) data is of significant …
Informed asymptotically near-optimal planning for field robots with dynamics
Z Littlefield, KE Bekris - Field and Service Robotics: Results of the 11th …, 2018 - Springer
Recent progress in sampling-based planning has provided performance guarantees in
terms of optimizing trajectory cost even in the presence of significant dynamics. The …
terms of optimizing trajectory cost even in the presence of significant dynamics. The …
An autonomous reactive architecture for efficient AUV mission time management in realistic dynamic ocean environment
SM Zadeh, DMW Powers, K Sammut - Robotics and Autonomous Systems, 2017 - Elsevier
Today AUVs operation still remains restricted to very particular tasks with low real autonomy
due to battery restrictions. Efficient path planning and mission scheduling are principle …
due to battery restrictions. Efficient path planning and mission scheduling are principle …
Development of collision risk indicators for autonomous subsea inspection maintenance and repair
The objective of this article is to present a method for developing collision risk indicators
applicable for autonomous remotely operated vehicles (AROVs), which are essential for …
applicable for autonomous remotely operated vehicles (AROVs), which are essential for …
Better safe than sorry: Risk-aware nonlinear bayesian estimation
DS Kalogerias, LFO Chamon… - ICASSP 2020-2020 …, 2020 - ieeexplore.ieee.org
Despite the simplicity and intuitive interpretation of minimum mean squared error (MMSE)
estimators, their effectiveness in certain scenarios is questionable. Indeed, minimizing …
estimators, their effectiveness in certain scenarios is questionable. Indeed, minimizing …
Uncertainty-aware perception models for off-road autonomous unmanned ground vehicles
Off-road autonomous unmanned ground vehicles (UGVs) are being developed for military
and commercial use to deliver crucial supplies in remote locations, help with mapping and …
and commercial use to deliver crucial supplies in remote locations, help with mapping and …
Explicit-risk-aware path planning with reward maximization
This paper develops a path planner that minimizes risk (eg motion execution) while
maximizing accumulated reward (eg, quality of sensor viewpoint) motivated by visual …
maximizing accumulated reward (eg, quality of sensor viewpoint) motivated by visual …
Active drifters: Towards a practical multi-robot system for ocean monitoring
A Molchanov, A Breitenmoser… - 2015 IEEE International …, 2015 - ieeexplore.ieee.org
We propose a method for controlling multiple active drifters in the presence of external
forcing induced by the ocean. Our active drifters have one actuator: they can lower and raise …
forcing induced by the ocean. Our active drifters have one actuator: they can lower and raise …
A systematic approach to risk assessment: Focusing on autonomous underwater vehicles and operations in arctic areas
IB Utne, I Schjølberg - International Conference on …, 2014 - asmedigitalcollection.asme.org
Climatic degradation of equipment, in combination with stringent requirements for human
safety and minimalistic environmental impact, need to be addressed through improved risk …
safety and minimalistic environmental impact, need to be addressed through improved risk …
Efficient motion planning for problems lacking optimal substructure
We consider the motion-planning problem of planning a collision-free path of a robot in the
presence of risk zones. The robot is allowed to travel in these zones but is penalized in a …
presence of risk zones. The robot is allowed to travel in these zones but is penalized in a …