2 papers
cs.RO2026
Ocean Current-Harnessing Stage-Gated MPC: Monotone Cost Shaping and Speed-to-Fly for Energy-Efficient AUV Navigation
Spyridon Syntakas, Kostas Vlachos
Autonomous Underwater Vehicles (AUVs) are a highly promising technology for ocean exploration and diverse offshore operations, yet their practical deployment is constrained by ener…
eess.SY2025
Safe Sliding Mode Control for Marine Vessels Using High-Order Control Barrier Functions and Fast Projection
Spyridon Syntakas, Kostas Vlachos
This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a…