2 papers
cs.RO2026
Optimal Excitation Trajectories for System Identification of Underwater Vehicles
Fotis Panetsos, Kostas J. Kyriakopoulos
In this work, we propose a structured methodology for the system identification of underwater vehicles through the design of optimal excitation trajectories. To this end, the traje…
cs.RO2026
Fault Diagnosis for Underwater Vehicles using Moving Horizon Estimation and Gaussian Processes
Fotis Panetsos, Kostas J. Kyriakopoulos
This work proposes a model-based fault detection and diagnosis framework for underwater vehicles subject to actuator faults that explicitly accounts for the presence of unmodeled d…