2 papers
cs.RO2025
Robust Trajectory Tracking of Autonomous Surface Vehicle via Lie Algebraic Online MPC
Yinan Dong, Ziyu Xu, Tsimafei Lazouski +2
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine…
cs.RO2025
GPS-DRIFT: Marine Surface Robot Localization using IMU-GPS Fusion and Invariant Filtering
Surya Pratap Singh, Tsimafei Lazouski, Maani Ghaffari
This paper presents an extension of the DRIFT invariant state estimation framework, enabling robust fusion of GPS and IMU data for accurate pose and heading estimation. Originally…