4 papers
Optimal Excitation Trajectories for System Identification of Underwater Vehicles
Fotis Panetsos, Kostas J. Kyriakopoulos
In this work, we propose a structured methodology for the system identification of underwater vehicles through the design of optimal excitation trajectories. To this end, the traje…
Fault Diagnosis for Underwater Vehicles using Moving Horizon Estimation and Gaussian Processes
Fotis Panetsos, Kostas J. Kyriakopoulos
This work proposes a model-based fault detection and diagnosis framework for underwater vehicles subject to actuator faults that explicitly accounts for the presence of unmodeled d…
Coverage Path Planning for Redundant Manipulators using Generalized Spanning Trees
Raksi Kopo, Kostas J. Kyriakopoulos
Surface coverage with task-redundant manipulators is challenging because each surface point may admit multiple inverse kinematics (IK) solutions, and configuration choices strongly…
Multirotor Nonlinear Model Predictive Control based on Visual Servoing of Evolving Features
Sotirios N. Aspragkathos, Panagiotis Rousseas, George C. Karras +1
This article presents a Visual Servoing Nonlinear Model Predictive Control (NMPC) scheme for autonomously tracking a moving target using multirotor Unmanned Aerial Vehicles (UAVs).…