3 papers
cs.RO2025
Model Predictive Path Integral Docking of Fully Actuated Surface Vessel
Akash Vijayakumar, Atmanand M A, Abhilash Somayajula
Autonomous docking remains one of the most challenging maneuvers in marine robotics, requiring precise control and robust perception in confined spaces. This paper presents a novel…
cs.RO2024
Learning Autonomous Docking Operation of Fully Actuated Autonomous Surface Vessel from Expert data
Akash Vijayakumar, Atmanand M A, Abhilash Somayajula
This paper presents an approach for autonomous docking of a fully actuated autonomous surface vessel using expert demonstration data. We frame the docking problem as an imitation l…
eess.SY2021
Deep Reinforcement Learning Based Controller for Active Heave Compensation
Shrenik Zinage, Abhilash Somayajula
Heave compensation is an essential part in various offshore operations. It is used in various applications, which include on-loading or off-loading systems, offshore drilling, land…