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In this paper, we aim to explore path following. We implement a path following component by referring to the existing Pure Pursuit algorithm. Using the simulation and field operational test, we identified the problem in the path following component. The main problems identified were with respect to vehicles meandering off the path, turning a corner, and the instability of steering control. Therefore,...
In the last decade, consumer electronic devices such as smartphones, are packaged with small cameras, gyroscopes, and accelerometers, all sensors allowing autonomous deployment of aerial robots in GPS-denied environments. Our previous work [1], demonstrated the feasibility of using smartphones for autonomous flight. In many applications, there is a large interest to the use multiple autonomous aerial...
We collaborated with the Monterey Bay Aquarium Research Institute (MBARI) to improve the depth control algorithm used by the Dorado class autonomous underwater vehicle (AUV) in conducting bathymetric surveys and other remote sensing tasks. The algorithm enables better bottom following by planning for the depth profile that follows the desired depth best, while pulling up safely for bathymetry. The...
This paper presents some of the results of the EU-funded project PANDORA — Persistent Autonomy Through Learning Adaptation Observation and Re-planning. The project was three and a half years long and involved several organisations across Europe. The application domain is underwater inspection and intervention, a topic particularly interesting for the oil and gas sector, whose representatives constituted...
Autonomous underwater vehicles have proven their roles as useful tools for scientific exploration and data gathering. The current state of the art in commercial vehicles involves a statical mission planning phase which does not take into account any energy or time limits. This work proposes the use of a mixed integer quadratic programming solution that maximises the utility of data gathering missions...
One strong motivation for introducing Vehicle-to-Vehicle technology is added safety. This technology will allow cooperative maneuver planing to help prevent many accidents in the future. However, safety for road users can only be effectively supported if the calculated motion plan for all participants is followed accurately and without deviation. A novel algorithm for monitoring of cooperative motion...
This paper reports on the inclusion of a probabilistic channel model within a cooperative localization planning framework. Underwater cooperative localization reduces positioning errors by sharing sensor data across a team of underwater vehicles. Relative range constraints between vehicles are measured by the one-way-travel-time of successfully received acoustic communication broadcasts. The quality...
In this paper the authors present an approach to the interpretation and distribution of geo-referenced information about road events for the purpose of road traffic shaping in the INSIGMA system. Particular focus was paid to the architecture and development of Registration, Distribution and Displaying Road Information on Variable Message Signs that implements the proposed mechanism. Created subsystem...
We present a framework for planning collision-free paths online for autonomous underwater vehicles (AUVs) in unknown environments. It is composed of three main modules (mapping, planning and mission handler) that incrementally explore the environment while solving start-to-goal queries. We use an octree-based representation of the environment and we extend the optimal rapidly-exploring random tree...
New potential applications of autonomous underwater vehicles (AUVs) involve operations in unknown and cluttered environments, therefore increasing the vehicle exposure to collisions. To cope with these situations, we use an AUV framework for planning collision-free paths in unknown environments, which adapt and replan the paths according to nearby obstacles perceived during the mission execution using...
This paper presents the design and simulation results of a vehicle path planning algorithm that takes into account traffic and other obstacles on a highway. The proposed algorithm is designed to require little computation in order to achieve a real time evaluation in an embedded environment such as an ECU. Hence, the trajectory planning is proposed as a two-step algorithm. The first step defines at...
In this paper, we present the concept of cooperative autonomous driving using cooperative perception. The cooperative perception can provide upcoming traffic situations ahead, even beyond line-of-sight and field-of-view. From a control perspective, a spatial map for navigation planning is extended up to the boundary of connected vehicles in a see-through manner. By leveraging this augmented perception...
The V2V communication is a promising technology aiming at the growing demands on safety, comfort and efficiency. A variety of research projects demonstrate the expandability of the V2V communication across the boundaries of current industry standards. The authors divide the expandability into two key aspects: collective scene description and cooperative maneuvers. This article combines the expandability...
This article discusses about the application of unmanned vehicles networks in several areas related to power systems. The main topics are related to the planning and mission control tools as well as coordination, communication and data sharing between the associated nodes. Throughout the work, some vehicles developed in the Underwater Systems and Technology Laboratory (LSTS) will also be presented,...
A real-time vehicle motion planning engine is presented in this paper, with the focus on exploiting the prior and online traffic knowledge, e.g., predefined roadmap, prior environment information, behaviour-based motion primitives, within the space exploration guided heuristic search (SEHS) framework. The SEHS algorithm plans a kinodynamic vehicle motion in two steps: a geometric investigation of...
Mine Countermeasures (MCM) are a substantial challenge in the domain of underwater operations especially when using Autonomous Underwater Vehicles (AUVs). The work presented in this paper focuses on the semantic representation of knowledge and its utilization for mission planning and plan adaptation in a simulated MCM environment using the Nessie AUV. With respect to semantic knowledge representation...
Traffic information is important for drivers and the traffic monitoring center (TMC) to avoid traffic congestions. VANET based systems use probe vehicles (PVs) to sense and upload the traffic information. However, due to the uneven distribution of the PVs, only a small part of the real-time traffic data can be gathered. Also, it is not efficient to estimate the traffic conditions at TMC and then publish...
This paper provides an overview on possibilities to design a common mission language for mission planning of heterogeneous autonomous marine robots that have to perform challenging mission scenarios as parts of a larger group over unstructured terrain. The required concept must therefore be suited for event-driven behavior of the vehicles and allow for high flexibility online. Also, in order to be...
This paper aims at presenting a framework for an optimal route planner system for Mauritius based on real time constraints for a better planned and informed decision on a trip. It is based on a 4-tier architecture with the front end servicing a broad range of ubiquitous users be it via mobiles or the web. It takes as inputs various constraints such as traffic weightage, points of interest and traffic...
We present a goal-directed 3D reactive obstacle avoidance algorithm specifically designed for Rotorcraft Unmanned Aerial Vehicles (RUAVs) that fly point-to-point type trajectories. The algorithm detects potential collisions within a cylindrical Safety Volume projected ahead of the UAV. This is done in a 3D occupancy map representation of the environment. An expanding elliptical search is performed...
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