A Belief Propagation based algorithm for autonomous mapping of underwater targets
Jose Melo, NATO STO CMRE
Domenico Gaglione, NATO STO CMRE
Giovanni Soldi, NATO STO CMRE
Paolo Braca, NATO STO CMRE
Samantha Dugelay, NATO STO CMRE

Keywords: Belief Propagation; Mapping; AUV; Mine Countermeasures; Navigation; Target Tracking;

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A Factor Graph Method for AUV Navigation in the Mobile Docking Progress
Yuanxin Xu, College of Information Science and Electronic Engineering,Zhejiang University
Liang Ruan, College of Information Science
Shumin Chen, Zhejiang Sci-Tech University
Jie Zhou, College of Information Science
Daheng Zeng, College of Information Science

Keywords: AUV; navigation; factor graph

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A Fault-tolerant Free-vehicle Architecture for Hadal Zone Exploration
Manuel Jimenez, Univ. of Puerto Rico Mayaguez
Wilford Schmidt, Univ. of Puerto Rico Mayaguez
Danilo Rojas, Univ. of Puerto Rico Mayaguez

Keywords: Autonomous underwater vehicle, free vehicle, fault tolerant systems

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A Hybrid Underwater Profiler with Thrusters Used for Fixed-point Ocean Observation
Hui Zhi, Zhejiang University
Canjun Yang, Zhejiang University
Yanhu Chen, Zhejiang University
Puzhe Zhou, Zhejiang University
Yongwei Ruan, Zhejiang University
Xiutong Mu, Zhejiang University
Bolun Zhang, Zhejiang University

Keywords: Hybrid underwater profiler; fixed-point observation

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A LOW-COST WAVE/SOLAR POWERED UNMANNED SURFACE VEHICLE
Moustafa Elkolali, OsloMet University
Ahmed Al-Tawil, OsloMet University
Ryan Schrader, Michigan Technological University
Lennard Much, University of Applied Sciences Kiel
Olivier Masset, Ecole Nationale d'Ingénieurs de Tarbes
Marina Sayols, Politècnica de Catalunya Barcelona, Spain
Andrew Jenkins, Glasgow Caledonian University
Sara Alonso, Universidad Politécnica de Madrid
Alfredo Carella, OsloMet University
Alex Alcocer, OsloMet University

Keywords: Unmanned Surface Vehicle, Wave Energy, Solar Energy, Marine Vehicles, Ocean Observing

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A Mechanism to Deploy a Negatively Buoyant Payload from a Neutrally Buoyant Platform
Gero Nootz, The University of Southern Mississippi
Vishwamithra Sunkar, The University of Southern Mississippi
Grant Webb, The University of Southern Mississippi

Keywords: payload deployment; AUV; UUV; Autonomous Underwater Vehicle;

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A Method for INS / DVL Integrated Navigation System Based on Marine Pipeline Node Position
Jiale Niu, Harbin Engineering University
Yanhui Wei, Harbin Engineering University
Dongdong Liu, Harbin Engineering University
Jing Liu, Harbin Engineering University

Keywords: Marine Pipeline;SINS;Integration navigation system;Adaptive square root unscented kalman filter

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A New Type of Bionic Manta-ray Underwater Robot
Junjie HE, Northwestern Polytechnical University
Yong Cao, Northwestern Polytechnical University
Qiaogao HUANG, Northwestern Polytechnical University
Yonghui Cao, Northwestern Polytechnical University
Chaoyu Tu, Northwestern Polytechnical University
Guang Pan, Northwestern Polytechnical University

Keywords: manta ray;MPF propulsion;pectoral fin;cross-spring pivot;experimental analysis;stability;maneuverability

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A Novel Method for Energy Consumption Prediction of Underwater Gliders Using Optimal LSSVM with PSO Algorithm
Yang Song, Tianjin University
Wendong Niu, Tianjin University
Yanhui Wang, Tianjin University
Xudong Xie, Tianjin University
Shaoqiong Yang, Tianjin University

Keywords: Underwater Glider; Energy Consumption; Prediction; LSSVM; PSO

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A Novel Method of Rapid Pitch of Cownose-ray AUV
Yong Cao, Northwestern Polytechnical University
Jingyi Bai, Northwestern Polytechnical University
Yiwei Hao, Northwestern Polytechnical University
Ya Zhang, James Weir Fluids Laboratory, Department of Mechanical and Aerospace Engineering, University of Strathclyde
Guang Pan, Northwestern Polytechnical University

Keywords: Bionic Autonomous Underwater Vehicle; Cownose-ray; Rapid Pitch Control; Central Pattern Generator

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A Pilot Aid for Real-Time Vision-Based Coverage Mapping for Seabed Surveying Applications
Aditya Mahajan, Stanford University
Stephen Rock, Stanford University

Keywords: convolution; coverage estimation; image registration; localization uncertainty; remotely operated vehicle (ROV); simultaneous localization and mapping (SLAM); state estimation; stereo vision; underwater survey

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A reinforcement learning control approach for underwater manipulation under position and torque constraints
Ignacio Carlucho, Louisiana State University
Mariano De Paula, CONICET
Corina Barbalata, Louisiana State University
Gerardo Acosta, CONICET

Keywords: Underwater manipulation; Reinforcement learning; Neural networks; Intelligent control; Deep Deterministic Policy Gradient

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A simulation study of simple local path planning and control for unmanned surface vehicles
Dimitrios Stergianelis, University of Portsmouth
Ya Huang, University of Portsmouth
Matthew McConnell, University of Portsmouth
Hui Yu, University of Portsmouth
Ze Ji, Cardiff University

Keywords: unmanned surface vehicle, local path planning, simulation

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AUV position uncertainty and target reacquisition
Jose Melo, NATO STO CMRE

Keywords: Navigation; Localization; Uncertainty; Target Reacquisition; Planning;

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Adaptive Cooperative Formation Control of Autonomous Surface Vessels With Interception of Moving Objects
Xiaotong Cheng, Shanghai Jiao Tong University
YU LU, Shanghai Jiao Tong University
LEI QIAO, Shanghai Jiao Tong University
Weidong Zhang, Shanghai Jiao Tong University

Keywords: cooperative control,;moving object interception;surface vessels; hybrid system

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An Optimal Passive Buoyancy Compensation System for Deep-sea Gliders Based on GA
Xudong Xie, Tianjin University
Yanhui Wang, Tianjin University
Yang Song, Tianjin University
Shaoqiong Yang, Tianjin University
Chenyi Luo, Tianjin University
Jun Chen, Tianjin University

Keywords: Underwater gliders; Buoyancy compensation system; Optimization; GA

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An adaptive sliding mode control strategy for the heading control of autonomous underwater vehicles
liwei Guo, School of Marine Science and Technology, Northwestern Polytechnical University
Weidong Liu, School of Marine Science and Technology, Northwestern Polytechnical University
Zeyu LI, School of Marine Science and Technology, Northwestern Polytechnical University
Linfeng Li, School of Marine Science and Technology Northwestern Polytechnical University

Keywords: Autonomous underwater vehicle (AUV), Heading control, Radial basis function (RBF) neural network, Sliding mode control

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Analysis of Hydrodynamic Characteristics and Motion Law of Variable Mode Wing of Underwater Glider
Cheng Wang, School of Mechanical Engineering, Tianjin University (TJU)
Tongshuai Sun, School of Mechanical Engineering, Tianjin University (TJU)
Yanhui Wang, School of Mechanical Engineering, Tianjin University (TJU)
Shaoqiong Yang, School of Mechanical Engineering, Tianjin University (TJU)
Wei Ma, School of Mechanical Engineering, Tianjin University (TJU)

Keywords: Hydrodynamic force; Variable mode wing; Underwater glider

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Antarctic Deep Field Deployments and Design of the Icefin ROV
Matt Meister, Georgia Institute of Technology
Daniel Dichek, Georgia Institute of Technology
Anthony Spears, Georgia Institute of Technology
Ben Hurwitz, Georgia Institute of Technology
Frances Bryson, Georgia Institute of Technology
Andrew Mullen, Georgia Institute of Technology
Justin Lawrence, Georgia Institute of Technology
Peter Washam, Georgia Institute of Technology
Enrica Quartini, Georgia Institute of Technology
Sebastian Lopez, Georgia Institute of Technology
Paul Anker, British Antarctic Survey
Darcy Mandeno, Victoria University of Wellington
Britney Schmidt, Georgia Institute of Technology

Keywords: under-ice; unmanned; autonomous; underwater; ROV; AUV; UUV; Antarctica

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Attitude Control of Autonomous Underwater Vehicle based on Improved Firefly PID Method
Lianggen You, School of Marine Engineering Northwestern Polytechnical University
Mingyong Liu, School of Marine Engineering Northwestern Polytechnical University
Tingchao Shi, School of Marine Engineering Northwestern Polytechnical University
Zhenhong Jiao, School of Marine Engineering Northwestern Polytechnical University
Yun Niu, School of Marine Engineering Northwestern Polytechnical University
Cong Wang, School of Marine Engineering Northwestern Polytechnical University

Keywords: Firefly algorithm,Autonomous Underwater Vehicle,PID control

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Autonomous Underwater Glider Navigation with Single Seabed Beacon
Feng LIU, Zhejiang University
Huifang CHEN, Zhejiang University
Lei XIE, Zhejiang University

Keywords: Positioning of Underwater Mobile Vehicles; Seabed Beacon; Single Beacon

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Consumption and Emission Minimised Ship Manoeuvring
Georg Finger, University of Applied Sciences Wismar
Agnes Schubert, University of Applied Sciences Wismar
Tino Riebe, University of Applied Sciences Wismar
Sandro Fischer, University of Applied Sciences Wismar
Michael Gluch, University of Applied Sciences Wismar
Michael Baldauf, University of Applied Sciences Wismar

Keywords: optimisation of ship manoeuvring; reduction of fuel consumption and emissions; motion and engine modelling

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Cooperative Path Planning for Single Master Using Q-learning Method
Lichuan Zhang, School of Marine Science and Technology,Northwestern Polytechnical University
Lichuan Zhang, School of Marine Science and Technology,Northwestern Polytechnical University
Dongwei Wu, School of Marine Science and Technology,Northwestern Polytechnical University
Ranzhen Ren, School of Marine Science and Technology,Northwestern Polytechnical University
Runfa Xing, School of Marine Science and Technology,Northwestern Polytechnical University

Keywords: Autonomous underwater vehicles (AUVs);cooperative navigation; path planning;Markov decision process(MDP);Q-learning method

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Cooperative location technology for AUVs based on weak-connected network
Junqi Qu, China Ship Scientific Research Center
lichuan zhang, Northwestern Polytechnical University
gongwu sun, China Ship Scientific Research Center

Keywords: weak-connected, AUV, measurement information, cooperative location, mobile relay station

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Design and optimization of the thruster configuration of a transformable underwater vehicle
Jisen Li, Peng Cheng Lab
Hua Zhu, Peng Cheng Lab
Caiming Sun, Peng Cheng Lab
Jiaming Zhang, Peng Cheng Lab
Shengquan Li, Peng Cheng Lab
Aidong Zhang, Peng Cheng Lab

Keywords: transformable robot, underwater vehicle design, optimization

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Design of a Cable-Mounted Robot for Near Shore Monitoring
Colin Snow, Olin College of Engineering
Jacqueline Zeng, Olin College of Engineering
Luke Nonas-Hunter, Olin College of Engineering
Devynn Diggins, Point Road Solutions, LLC
Kevin Bennett, Point Road Solutions, LLC
Andrew Bennett, Point Road Solutions, LLC

Keywords: Climate Change; Sea Measurement; Monitoring; Remote Monitoring; Internet of Things; Sensors

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Design of an Automatic Push Coring Device onboard an ROV
Yu-Cheng Chou, National Sun Yat-sen University
Hsin-Hung Chen, National Sun Yat-sen University
Chau-Chang Wang, National Sun Yat-sen University
Po-Hao Chen, National Sun Yat-sen University

Keywords: Push corer; Sediment sampling; Automatic sediment sampling

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Detecting Loop Closure Using Enhanced Image for Underwater VINS-Mono
Ronghao Zheng, Zhejiang Universtiy
Hengfei Zhao, Zhejiang University
Meiqin Liu, Zhejiang University
Senlin Zhang, Zhejiang University

Keywords: Underwater SLAM; Image enhancement; Loop detection; ORB dictionary

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Detection and Mapping of Monopiles in Offshore Wind Farms using Autonomous Surface Vehicles
Rafael Claro, INESC TEC
Renato Silva, INESC TEC
Andry Pinto, INESC TEC

Keywords: ASV; wind turbine; OWF; monopile; point cloud; mapping; localization; cylinder segmentation; LiDAR

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Detection of a Drifting Acoustic Transponder by an AUV
Stephen Krauss, Virginia Tech
Daniel Stilwell, Virginia Tech
Mark Psiaki, Virginia Tech
Kyriakos Vamvoudakis, Georgia Institute of Technology

Keywords: autonomous underwater vehicle; AUV; navigation; LBL; drift detection

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Dynamic modelling and control of a portable USV for bathymetric survey
Karl Von Ellenrieder, Libera Universita di Bolzano
Helen Henninger, Libera Universita di Bolzano
Stephen Licht, University of Rhode Island

Keywords: Path following control;Supertwisting control;Robust control;Unmanned surface vessels

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Empirical Energetic Costs of Under-Ice Surveys to Guide Vehicle and Mission Design
Daniel Dichek, Georgia Institute of Technology
Matthew Meister, Georgia Institute of Technology
Anthony Spears, Georgia Institute of Technology
Justin Lawrence, Georgia Institute of Technology
Benjamin Hurwitz, Georgia Institute of Technology
Andrew Mullen, Georgia Institute of Technology
Frances Bryson, Georgia Institute of Technology
Peter Washam, Georgia Institute of Technology
Enrica Quartini, Georgia Institute of Technology
Lara Kassabian, Georgia Institute of Technology
Britney Schmidt, Georgia Institue of Technology

Keywords: under ice; energy estimation; autonomous underwater vehicles; Icefin; vehicle design; energy measurement; action segmentation;UUV; mission design

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Fuzzy Adaptive Impedance Control for Deep-Sea Hydraulic Manipulator Grasping Under Uncertainties
Yanzhuang Chen, Shenyang Institute of Automation, Chinese Academy of Sciences
Qifeng Zhang, Shenyang Institute of Automation, Chinese Academy of Sciences
Qiyan Tian, Shenyang Institute of Automation, Chinese Academy of Sciences
Liangqing Huo, Shenyang Institute of Automation, Chinese Academy of Sciences
Xisheng Feng, Shenyang Institute of Automation, Chinese Academy of Sciences

Keywords: fuzzy adaptive impedance control, Deep-Sea Hydraulic Manipulator, uncertainties, unknown environment grasping

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Geomagnetic Navigation with Adaptive Search Space for AUV based on Deep Double-Q-Network
Cong Wang, the School of Marine Engineering, Northwestern Polytechnical University
Mingyong Liu, the School of Marine Engineering, Northwestern Polytechnical University
Yun Niu, the School of Marine Engineering, Northwestern Polytechnical University
Yuyao He, the School of Marine Engineering, Northwestern Polytechnical University
Lianggen You, the School of Marine Engineering, Northwestern Polytechnical University
Tingchao Shi, the School of Marine Engineering, Northwestern Polytechnical University

Keywords: Geomagnetic Navigation, reinforcement learning, DDQN

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HGESO-based disturbance rejection path following control for underactuated hovercrafts
Haiyan Tong, 1. College of Automation, Harbin Engineering University
Yuanhui Wang, 1. College of Automation, Harbin Engineering University
Hongliang Ren, 2. Department of Biomedical Engineering, National University of Singapore
Tianzhu Gao, Shenyang Institute of Automation
Fuguang Ding, 1. College of Automation, Harbin Engineering University
Chenglong Wang, Harbin Engineering University

Keywords: underactuated hovercrafts, path following control, high gain extended state observer, disturbance rejection

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Heterogeneous Swarms for Maritime Dynamic Target Search and Tracking
Hian Lee Kwa, Singapore University of Technology and Design
Grgur Tokic, Massachusetts Institute of Technology
Roland Bouffanais, Singapore University of Technology and Design
Dick Yue, Massachusetts Institute of Technology

Keywords: Dynamic Target Search, Multi-Robot Search, Swarm Intelligence, Heterogeneous Swarm

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Hydrodynamic parameter optimization for miniature underwater glider wings
Moustafa Elkolali, Oslo Metropolitan Universiy
Wilfried Splawski, ENIT ecole national d'ingenieur de Tarbes
Alfredo Carella, Oslo Metropolitan University
Alex Alcocer, Oslo Metropolitan University

Keywords: micro underwater glider; hydrodynamic characteristics; wing geometry; computational fluid dynamics.

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Hydrodynamic simulation of frontal plane deck motion during a mechanical shock on a lifeboat
Jens Thiele, University of Portsmouth
Ya Huang, University of Portsmouth
Jason Knight, University of Portsmouth

Keywords: mechanical shock, high-speed marine crafts, drop tests, hydrodynamic simulation

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Insights into a data driven optimal control for energy efficient manipulation
Ignacio Carlucho, Louisiana State University
Dylan Stephens, Louisiana State University
Corina Barbalata, Louisiana State University

Keywords: Underwater manipulation; Model Predictive Control; Energy efficiency; Neural Networks; Intelligent control

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Keyframe-Based Imaging Sonar Localization and Navigation using Elastic Windowed Optimization
Ronghao Zheng, Zhejiang Universtiy
Yang Xu, Zhejiang University
Meiqin Liu, Zhejiang University
Senlin Zhang, Zhejiang University

Keywords: Autonomous underwater vehicle; underwater localization and navigation; imaging sonar; keyframe

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LSTM-based Dead Reckoning Navigation for Autonomous Underwater Vehicles
Edoardo Topini, University of Florence
Alberto Topini, University of Florence
Matteo Franchi, University of Florence
Alessandro Bucci, University of Florence
Nicola Secciani, University of Florence
Alessandro Ridolfi, University of Florence
Benedetto Allotta, University of Florence

Keywords: AUVs; Underwater Robotics; Autonomous Navigation; Deep Learning; Long Short-Term Memory Networks

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Lost at Sea: Multi-Searcher Multi-Target Search
Pamela Wang, Singapore University of Design and Technology
Malika Meghjani, Singapore University of Technology and Design

Keywords: Multi-robot coordination;task allocation;Marine Search and Rescue;Search problems

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Low-Cost Autonomous Surface Vehicle for Multi-Vehicle Operations
Reeve Lambert, Purdue University
Brian Page, Purdue University
Jalil Chavez, Purdue University
Nina Mahmoudian, Purdue University

Keywords: Marine Robotics; System Design; Robotic Controls; Autonomous Surface Vehicle; Localization

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MARA - A modular underwater robot for confined spaces exploration
Alfredo Martins, INESC TEC / ISEP
José Almeida, INESC TEC / ISEP
Carlos Almeida, INESC TEC
Ricardo Pereira, INESC TEC
Denys Sytnyk, INESC TEC
Eduardo Soares, INESC TEC
Bruno Matias, INESC TEC
Tiago Pereira, INESC TEC
Eduardo Silva, INESC TEC / ISEP

Keywords: auv; underwater mining; structured laser light system; exploration; underwater caves; marine robotics

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Mapping Shallow Water Environments using a Semi-Autonomous Multi-Sensor Surface Vehicle
Philipp Woock, Fraunhofer IOSB
Dominik Kleiser, Fraunhofer IOSB
Alexander Albrecht, Fraunhofer IOSB
Thomas Emter, Fraunhofer IOSB
Angelika Zube, Fraunhofer IOSB
Janko Petereit, Fraunhofer IOSB

Keywords: autonomous surface vehicle; ASV; multi-sensor fusion; inspection; mapping

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Markov Random Fields for Basic Scene Analysis of Occupancy Grids

Keywords: vehicle navigation; computer vision; scene analysis; Markov random field; occupancy mapping; probabilistic graphical model; unmanned vehicles

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Method for Collision Avoidance by USV Based on Improved Genetic Algorithm

Keywords: Improved genetic algorithm; Unmanned surface vehicle;Obstacle avoidance; COLREGs;Radar detection

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Multi-Agent Reinforcement Learning for Dynamic Ocean Monitoring by a Swarm of Buoys

Keywords: Multi-agent reinforcement learning; area coverage; centralized learning; actor-critic network; deep deterministic policy optimization

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Navigation for AUV, Located in the Shadow Area of LBL, During the Group Operations

Keywords: autonomous underwater vehicle (AUV); AUV group navigation; long-base line acoustic positioning system; differential-ranging acoustic positioning system; acoustic shadow zone

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Neural Network Assisted Adaptive Unscented Kalman Filter for AUV

Keywords: Autonomous Underwater Vehicle; Adaptive Unscented Kalman Filter; RBF Neural Network; ELM Neural Network

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Nonlinear Model Predictive Path Following for an Unmanned Surface Vehicle

Keywords: unmmaned surface vehicle; predictive control; path following

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Numerical investigation of the manoeuvring motions and trajectory tracking of a KVLCC2 tanker using PID controller in regular waves

Keywords: Unified seakeeping and manoeuvring model, PID contreller, KVLCC2, Line of sight(LOS)

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ORBSLAM2 and Point Cloud Processing Towards Autonomous Underwater Robot Navigation

Keywords: Underwater robots; underwater navigation; ORBSLAM2; cloud point; autonomous navigation

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Optimizing Endurance of an Autonomous Vertical Profiler (AVP)

Keywords: AVP; endurance; controller; PID; neural network; modeling

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Particle Filter based Navigation System for an AUV aided thru acoustic communication ranging

Keywords: Autonomous Underwater Vehicles, Navigation System, Particle Filter, Particle Swarm Optimization, Robot Operating System

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Planning and Supervising Autonomous Underwater Vehicles through the Mission Management Tool

Keywords: Human-Robot Interaction; Multi-Robot Systems; Underwater Robotics; Mission Planning

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Project of a 6DoF ROV propulsion system with azimuthal thrusters

Keywords: ROV; control; LQR; thrust allocation

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Proxy Platform for Underwater Inspection, Maintenance, and Repair

Keywords: AUV; ROV; SLAM; multibeam sonar;

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Reduced Order Modeling for Stochastic Prediction Onboard Autonomous Platforms at Sea

Keywords: reduced order model; Dynamic Mode Decomposition; stochastic models; autonomous marine vehicles

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Research on the Machine Vision Positioning Methods Applied in the Docking System

Keywords: Docking system, AUV, Monocular positioning, Binocular positioning

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Research on AUV Path Planning Algorithm Based on Dimensionality Reduction Method and Improved RRT

Keywords: AUV;Path Planning;Dimensionality Reduction;Improved RRT;Reverse Pruning

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Research on USV sailing through the bridge with visual servo

Keywords: unmanned surface vehicles;vision servo;vehicle navigation

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Sea Experiment of Positioning Underwater Mobile Vehicles Using Multiple Surface Beacons

Keywords: Positioning Underwater Mobile Vehicles; Multiple Surface Beacons; Time Difference of Arrival (TDOA); Sea Experiment

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Self-calibration scheme of RIMU based on AEKF

Keywords: Calibration; RIMU; Adaptive Kalman filter; Inertial navigation

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Some Algorithms of Differential-Ranging Acoustic Positioning System Intended for AUV Group Navigation

Keywords: autonomous underwater vehicle (AUV); AUV group navigation; observation; long-base line acoustic positioning system; differential-ranging acoustic positioning system; position lines

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System Identification Using the Modeling through Iterative Smoothing Algorithm

Keywords: System Identification; Unmanned; Surface Vehicles;

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The VIMMJIPDA: Hybrid state formulation and verification on maritime radar benchmark data

Keywords: autonomous ships; situational awareness; multi-target tracking; USV; ASV; MASS; benchmark data; Markov Chains; hybrid state vector; random finite sets

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UUV On-Board Path Replanning using PRM-A*

Keywords: Path Planning, A-Star (A*); Probabilistic Roadmap (PRM); Local Roadmap; Unmanned Underwater Vehicle (UUV); Navy Mission Planning

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Unmanned Ship Vehicle Path Tracking based on the Robot Operating System

Keywords: USV;Path tracking;ROS

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