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AUVs increasingly are being used to collect data in the benthic environment. Many of these data collection tasks require that the AUV is able to follow the terrain at standoff distances on the order of meters (e.g. benthic imaging). However, terrain following with an AUV is a challenging problem when the terrain is rough, and the task becomes even more difficult when using motion-constrained vehicles...
Receding Horizon (RH) control is an established control methodology which has been used successfully for many control applications. More recently it has been applied for autonomous vehicle guidance. Its successful implementation, in particular for applications involving agile vehicles like rotorcraft, hinges on two critical factors: (1) adequately accounting for the vehicle dynamics to guarantee that...
We present a method for motion planning in the presence of moving obstacles that is aimed at dynamic on-road driving scenarios. Planning is performed within a geometric graph that is established by sampling deterministically from a manifold that is obtained by combining configuration space and time. We show that these graphs are acyclic and shortest path algorithms with linear runtime can be employed...
This paper addresses the problem of generating autonomously an optimal control action sequence for robotic autonomous unmanned vehicles based on adaptive critic designs (ACDs) for their use in autonomous agriculture vehicles, in the context of precision agriculture. The main objective is to design autonomously an optimal controller that steers the center of the vehicle through a number of waypoints...
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