2 papers
cs.RO2026
Constraint-Unified MPC for Over-Actuated Surface Vehicles with Post-Detection Fault Reconfiguration
Sebastian Burmester, Ruiheng Jiang, Noa Sendlhofer +2
Choreographed aquatic performances require small autonomous surface vehicles to track precise paths under per-thruster force and rate limits, including after thruster failures. We…
cs.RO2026
Choreographing the Way of Water: A Computational Framework for Aquatic Robotic Art
Aswin Ramachandran, Christopher Golling, Sebastian Burmester +4
Robotic choreography in open water is governed by nonlinear fluid dynamics, which impose significant challenges due to environmental disturbances and nonlinear system dynamics. Thi…