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Autonomous underwater vehicles (AUVs) are used to execute an increasingly challenging set of missions in commercial, environmental and defense industries. The resources available to the AUV in service of these missions are typically a limited power supply and onboard sensing of its local environment. Optimal path planning is needed to maximize the chances that these AUVs will successfully complete...
We report the results of sea exercises that demonstrate the real-time capabilities of our fundamental time-optimal path planning theory and software with real ocean vehicles. The exercises were conducted with REMUS 600 Autonomous Underwater Vehicles (AUVs) in the Buzzards Bay and Vineyard Sound Regions on 21 October and 6 December 2016. Two tests were completed: (i) 1-AUV time-optimal tests and (ii)...
In this paper, we adopt a reachability-based approach to deal with the pursuit-evasion differential game between two players in the presence of dynamic environmental disturbances (e.g., winds, sea currents). We give conditions for the game to be terminated in terms of reachable set inclusions. Level set equations are defined and solved to generate the reachable sets of the pursuer and the evader....
A stochastic optimization methodology is formulated for computing energy-optimal paths from among time-optimal paths of autonomous vehicles navigating in a dynamic flow field. Based on partial differential equations, the methodology rigorously leverages the level-set equation that governs time-optimal reachability fronts for a given relative vehicle-speed function. To set up the energy optimization,...
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