5 papers
MPPI-based Informative Trajectory Planning for Search and Capture of Drifting Targets with ASVs
Sanjeev Ramkumar Sudha, Marija PopoviÄ, Erlend M. Coates
Autonomous surface vehicles offer an efficient solution for environmental cleanup as well as search and rescue operations in open waters. Targets in these settings drift continuous…
"Why This Avoidance Maneuver?" Contrastive Explanations in Human-Supervised Maritime Autonomous Navigation
Joel Jose, Andreas Madsen, Andreas Brandsæter +2
Automated maritime collision avoidance will rely on human supervision for the foreseeable future. This necessitates transparency into how the system perceives a scenario and plans…
A spherical amplitude-phase formulation for 3-D adaptive line-of-sight (ALOS) guidance with USGES stability guarantees
Erlend M. Coates, Thor I. Fossen
A recently proposed 3-D adaptive line-of-sight (ALOS) path-following algorithm addressed coupled motion dynamics of marine craft, aircraft and uncrewed vehicles under environmental…
An Informative Planning Framework for Target Tracking and Active Mapping in Dynamic Environments with ASVs
Sanjeev Ramkumar Sudha, Marija PopoviÄ, Erlend M. Coates
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is cr…
Efficient Online Learning and Adaptive Planning for Robotic Information Gathering Based on Streaming Data
Sanjeev Ramkumar Sudha, Joel Jose, Erlend M. Coates
Robotic information gathering (RIG) techniques refer to methods where mobile robots are used to acquire data about the physical environment with a suite of sensors. Informative pla…