Results 51 to 60 of about 1,933 (217)

A Novel Method of Time-Varying Formation Control Based on a Directed Graph for Multiple Autonomous Underwater Vehicles

Applied Sciences
Currently, autonomous underwater vehicles (AUVs) are facing various challenges, rendering multiple-AUV (multi-AUV) formation control a pivotal research direction.
Gang Shao, Lei Wan, Huixi Xu
doaj   +1 more source

Model Identification and Control Design for a Humanoid Robot [PDF]

, 2016
In this paper, model identification and adaptive control design are performed on Devanit-Hartenberg model of a humanoid robot. We focus on the modeling of the 6 degree-of-freedom upper limb of the robot using recursive Newton-Euler (RNE) formula for the ...
Chenguang Yang
core   +1 more source

Enabling Under Ice Glider Operations: A Backseat Driver Approach

Journal of Field Robotics, EarlyView.
ABSTRACT Polar Oceans are key locations for forcing global ocean circulation, influencing both global climate and biogeochemical cycles. Due to restricted access to these seasonally and perennially ice‐covered regions, these areas are severely undersampled.
Yaomei Wang, Benjamin Allsup, Georgios Salavasidis, Stephen Woodward, Adeniyi Adenaya, Mike Smart, Alexis Johnson, Felipe Marques Dos Santos, Jake Ludgate, Daniel Matterson, Alvaro Lorenzo, J. Alexander Brearley, Alexander Brian Phillips   +12 more
wiley   +1 more source

Synchronous-clock range-angle relative acoustic navigation: a unified approach to multi-AUV localization, command, control, and coordination [PDF]

, 2021
© The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Rypkema, N., Schmidt, H., & Fischell, E.
Fischell, Erin M., Rypkema, Nicholas R., Schmidt, Henrik   +2 more
core   +2 more sources

Virtual Elastic Tether: A New Approach for Multi‐Agent Navigation in Confined Aquatic Environments

Journal of Field Robotics, EarlyView.
ABSTRACT Underwater navigation is a challenging area in the field of mobile robotics due to inherent constraints in self‐localization and communication in underwater environments. Some of these challenges can be mitigated by using collaborative multi‐agent teams.
Kanzhong Yao, Xueliang Cheng, Keir Groves, Barry Lennox, Ognjen Marjanovic, Simon Watson   +5 more
wiley   +1 more source

Sub-parent AUV with multi-load release capacity: principle, mechanism design and performance testing

Zhongguo Jianchuan Yanjiu
Objective This paper proposes the concept of a sub-parent AUV to address the specific requirements of load capacity, response speed and multi-body coordination in scenarios such as underwater search and rescue, wartime defense and dense attacks.
Haochen LI, Wenchao QIAO, Hang ZHANG, Shengzeng ZHOU, Xinliang TIAN, Binrong WEN   +5 more
doaj   +1 more source

An Adaptive Design Methodology for Reduction of Product Development Risk

, 2011
Embedded systems interaction with environment inherently complicates understanding of requirements and their correct implementation. However, product uncertainty is highest during early stages of development.
Khan, Dr. Ibrahim, Kvsvn, Dr. Raju, Pakala, Hara Gopal Mani, Varaprasad, Dr. Plh   +3 more
core   +1 more source

Redefining Optimal Coverage Path Planning for FLS‐Equipped AUVs With Deep Reinforcement Learning

Journal of Field Robotics, EarlyView.
ABSTRACT Autonomous Underwater Vehicles (AUVs) have emerged as indispensable tools for a variety of subsea tasks, from habitat monitoring and seabed mapping to infrastructure inspection and mine countermeasures. A fundamental challenge in this field is Coverage Path Planning (CPP), the problem of ensuring complete and efficient area coverage.
Lorenzo Cecchi, Alberto Topini, Alessandro Bucci, Alessandro Ridolfi   +3 more
wiley   +1 more source

Multi-AUV Cooperative Search for Moving Targets Based on Multi-Agent Reinforcement Learning

Journal of Marine Science and Engineering
This paper proposes a convolutional multi-agent deep deterministic policy gradient method with prioritized experience replay (PER-CMADDPG) for the problem of multi-AUV cooperative search for moving targets. A comprehensive mathematical model of the multi-
Le Li, Ruiqi An, Zhaozhi Guo, Jian Gao
doaj   +1 more source

Optimal trajectory generation in ocean flows [PDF]

, 2004
In this paper it is shown that Lagrangian Coherent Structures (LCS) are useful in determining near optimal trajectories for autonomous underwater gliders in a dynamic ocean environment.
Inanc, Tamer, Marsden, Jerrold E., Shadden, Shawn C.   +2 more
core   +1 more source