4 papers
SMaRCSim: Maritime Robotics Simulation Modules
Mart Kartašev, David Dörner, Özer Özkahraman +3
Developing new functionality for underwater robots and testing them in the real world is time-consuming and resource-intensive. Simulation environments allow for rapid testing befo…
Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions
Özer Özkahraman, Petter Ögren
Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning t…
Improving the Modularity of AUV Control Systems using Behaviour Trees
Christopher Iliffe Sprague, Özer Özkahraman, Andrea Munafo +3
In this paper, we show how behaviour trees (BTs) can be used to design modular, versatile, and robust control architectures for mission-critical systems. In particular, we show thi…
Underwater Caging and Capture for Autonomous Underwater Vehicles
Özer Özkahraman, Petter Ögren
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve thi…