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Unmanned vehicles are emerging as an attractive tool for persistent monitoring tasks of a given area, but need automated planning capabilities for effective unattended deployment. Such an automated planner needs to generate collision-free coverage paths by steering waypoints to locations that both minimize the path length and maximize the amount of information gathered along the path. The approach...
We present a look-ahead based trajectory planning algorithm for computation of dynamically feasible trajectories for Unmanned Sea Surface Vehicles (USSV) operating in high seas states. The algorithm combines A* based heuristic search and locally bounded optimal planning under motion uncertainty using a variation of the minimax game-tree search. This allows the algorithm to compute trajectories that...
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