5 citations · 5 across the 4 of their papers we have counts for
7 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…
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…