21 citations · 30 across the 6 of their papers we have counts for
6 papers · 1 filter
3D Ensemble-Based Online Oceanic Flow Field Estimation for Underwater Glider Path Planning
Felix H. Kong, K. Y. Cadmus To, Gary Brassington +2
Estimating ocean flow fields in 3D is a critical step in enabling the reliable operation of underwater gliders and other small, low-powered autonomous marine vehicles. Existing met…
Estimation of Spatially-Correlated Ocean Currents from Ensemble Forecasts and Online Measurements
K. Y. Cadmus To, Felix H. Kong, Ki Myung Brian Lee +3
We present a method to estimate two-dimensional, time-invariant oceanic flow fields based on data from both ensemble forecasts and online measurements. Our method produces a realis…
Distance and Steering Heuristics for Streamline-Based Flow Field Planning
K. Y. Cadmus To, Chanyeol Yoo, Stuart Anstee +1
Motion planning for vehicles under the influence of flow fields can benefit from the idea of streamline-based planning, which exploits ideas from fluid dynamics to achieve computat…
Minimally Invasive Social Navigation
Stefan H. Kiss, K. Y. Cadmus To, Chanyeol Yoo +2
Integrating mobile robots into human society involves the fundamental problem of navigation in crowds. This problem has been studied by considering the behaviour of humans at the l…
Streamline-Based Control of Underwater Gliders in 3D Environments
K. Y. Cadmus To, James Ju Heon Lee, Chanyeol Yoo +2
Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean cu…
Streamlines for Motion Planning in Underwater Currents
Kwun Yiu Cadmus To, Ki Myung Brian Lee, Chanyeol Yoo +2
Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in samplin…