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cs.RO2018
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…
cs.RO2018
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…