2 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…