4 papers
Dynamic System Emulation: Fixed Wing Dynamics on a Multicopter
Abdelhakim Amer, Andriy Sarabakha
This work presents a control framework that enables a multicopter equipped with a two-axis gimbal to emulate the flight dynamics of a fixed-wing aircraft. The goal is to provide an…
SeaVis: Modeling and Control of a Remotely Operated Towed Vehicle for Seabed Visualization and Mapping
Abdelhakim Amer, Aske Alstrup, Frederik Rasmussen +3
High-resolution seafloor mapping necessitates stable and precise positioning for underwater robots. This paper introduces a novel mathematical model for SeaVis remotely operated to…
REACT: Real-time Entanglement-Aware Coverage Path Planning for Tethered Underwater Vehicles
Abdelhakim Amer, Mohit Mehindratta, Yury Brodskiy +2
Inspection of underwater structures with tethered underwater vehicles is often hindered by the risk of tether entanglement. We propose REACT (real-time entanglement-aware coverage…
Modelling of Underwater Vehicles using Physics-Informed Neural Networks with Control
Abdelhakim Amer, David Felsager, Yury Brodskiy +1
Physics-informed neural networks (PINNs) integrate physical laws with data-driven models to improve generalization and sample efficiency. This work introduces an open-source implem…