21 citations · 34 across the 8 of their papers we have counts for
8 papers · 1 filter
Decentralised Active Perception in Continuous Action Spaces for the Coordinated Escort Problem
Rhett Hull, Ki Myung Brian Lee, Jennifer Wakulicz +6
We consider the coordinated escort problem, where a decentralised team of supporting robots implicitly assist the mission of higher-value principal robots. The defining challenge i…
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…
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…
Efficient Optimal Planning in non-FIFO Time-Dependent Flow Fields
James Ju Heon Lee, Chanyeol Yoo, Stuart Anstee +1
We propose an algorithm for solving the time-dependent shortest path problem in flow fields where the FIFO (first-in-first-out) assumption is violated. This problem variant is impo…
Online Estimation of Ocean Current from Sparse GPS Data for Underwater Vehicles
Ki Myung Brian Lee, Chanyeol Yoo, Ben Hollings +3
Underwater robots are subject to position drift due to the effect of ocean currents and the lack of accurate localisation while submerged. We are interested in exploiting such posi…
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…