The essence of the path planning problems is multi-modality constraint. However, most of
the current literature has not mentioned this issue. This paper introduces the research …

The growth in technology on autonomous transportation systems is currently motivating a
number of research initiatives. This paper first presents a survey of the literature on …

Simulation plays an important role in the development, testing and evaluation of new robotic
applications, reducing implementation time, cost and risk. For much of the robotics …

An n-degree of freedom nonlinear control law for the trajectory tracking of marine vehicles
that operate in the presence of unknown time-varying disturbances, input saturation and …

In this article, we address the difficulty of controlling unmanned surface vehicles (USVs)
under unforeseeable and unobservable external disturbances using model-based …

This paper is concerned with the fault reconstruction observer design problem with unknown
nonlinearities, external disturbances and faults. First, a neural-network-based fault …

Course keeping control of ships deals with the automation of their trajectories for which a
better rudder action is required to control the ship heading to continuously remain at the …

Due to the complex environment and variable demands, unmanned surface vessel (USV)
task assignment and path planning have received much attention from academia and …

This article presents a composite anti-disturbance dynamic positioning (CADDP) control
technique for a mass-switched unmanned marine vehicle (MSUMV) subject to the influence …

In this article, we propose a novel reinforcement learning (RL) approach specialized for
autonomous boats: sample‐efficient probabilistic model predictive control (SPMPC), to …