30 citations · 42 across the 12 of their papers we have counts for
13 papers
Multi-layer barrier adaptation of the discrete-time super-twisting controller
Antoine Thibault Vié, Leonid Fridman, Roberto Galeazzi +1
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case o…
Adaptive Entropy-Driven Sensor Selection in a Camera-LiDAR Particle Filter for Single-Vessel Tracking
Andrei Starodubov, Yaqub Aris Prabowo, Andreas Hadjipieris +2
Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performan…
Stochastic COLREGs Evaluation for Safe Navigation under Uncertainty
Peter Nicholas Hansen, Dimitrios Papageorgiou, Roberto Galeazzi +1
The encounter situation between marine vessels determines how they should navigate to obey COLREGs, but time-varying and stochastic uncertainty in estimation of angles of encounter…
Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective
Thomas T. Enevoldsen, Mogens Blanke, Roberto Galeazzi
This paper provides a collision avoidance perspective to maritime autonomy, in the shift towards Maritime Autonomous Surface Ships (MASS). In particular, the paper presents the dev…
Informed Sampling-based Collision Avoidance with Least Deviation from the Nominal Path
Thomas T. Enevoldsen, Roberto Galeazzi
This paper addresses local path re-planning for -dimensional systems by introducing an informed sampling scheme and cost function to achieve collision avoidance with minimum dev…
Cyber-resilience for marine navigation by information fusion and change detection
Dimitrios Dagdilelis, Mogens Blanke, Rasmus Hjorth Andersen +1
Cyber-resilience is an increasing concern in developing autonomous navigation solutions for marine vessels. This paper scrutinizes cyber-resilience properties of marine navigation…
Grounding-aware RRT* for Path Planning and Safe Navigation of Marine Crafts in Confined Waters
Thomas T. Enevoldsen, Roberto Galeazzi
The paper presents a path planning algorithm based on RRT* that addresses the risk of grounding during evasive manoeuvres to avoid collision. The planner achieves this objective by…
Guaranteed Rejection-free Sampling Method Using Past Behaviours for Motion Planning of Autonomous Systems
Thomas T. Enevoldsen, Roberto Galeazzi
The paper presents a novel learning-based sampling strategy that guarantees rejection-free sampling of the free space under both biased and approximately uniform conditions, levera…
RetinaNet Object Detector based on Analog-to-Spiking Neural Network Conversion
Joaquin Royo-Miquel, Silvia Tolu, Frederik E. T. Schöller +1
The paper proposes a method to convert a deep learning object detector into an equivalent spiking neural network. The aim is to provide a conversion framework that is not constrain…
2022 Roadmap on Neuromorphic Computing and Engineering
Dennis V. Christensen, Regina Dittmann, Bernabé Linares-Barranco +56
Modern computation based on the von Neumann architecture is today a mature cutting-edge science. In the Von Neumann architecture, processing and memory units are implemented as sep…
COLREGs-Informed RRT* for Collision Avoidance of Marine Crafts
Thomas Thuesen Enevoldsen, Christopher Reinartz, Roberto Galeazzi
The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe…
Monitoring of Railpad Long-term Condition in Turnouts Using Extreme Value Distributions
Pegah Barkhordari, Roberto Galeazzi, Mogens Blanke
The railpad is a key element in railway infrastructures that plays an essential role in the train-track dynamics. Presence of worn or defective railpads along railway track may lea…
Identification of Behavioural Models for Railway Turnouts Monitoring
Pegah Barkhordari, Roberto Galeazzi, Alejandro de Miguel Tejada +1
This study introduces a low-complexity behavioural model to describe the dynamic response of railway turnouts due to the ballast and railpad components. The behavioural model shoul…