Disaster robotics has become a research area in its own right, with several reported cases of
successful robot deployment in actual disaster scenarios. Most of these disaster …

This paper presents a Learning-based Nonlinear Model Predictive Control (LB-NMPC)
algorithm for reconfigurable autonomous vessels to facilitate high-accurate path tracking …

In this paper, a hierarchical control scheme for trajectory-tracking unmanned surface
vehicles (USVs) is proposed and tested. The proposed control scheme is capable of …

In this paper, parallel docking (parallel parking) problem for unmanned surface vehicles
(USVs) is investigated. A mathematical model for an USV is constructed and a hierarchical …

This paper investigates an online system identification problem of estimating unknown
parameters in nonlinear system dynamics in the absence of persistently excitation. To …

This paper presents a novel approach to planning vehicle paths under kinodynamic
constraints in a leader follower scenario where the follower vehicle has to track and follow …

In this study, a system identification methodology is introduced to determine the model
parameters of unmanned surface vehicles. The proposed identification scheme is based on …

This thesis covers parallel docking (parallel parking) problem for unmanned surface
vehicles (USVs). First, a mathematical model for a USV with two propellers is constructed by …