Concept
Robot sous-marin autonome
Publications associées (48)
Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics
Denis Gillet, Man Shi, Jianwei Li
Path-following control is a critical technology for autonomous vehicles. However, time-varying parameters, parametric uncertainties, external disturbances, and complicated environments significantly challenge autonomous driving. We propose an iterative rob ...
Ieee-Inst Electrical Electronics Engineers Inc2024Educational Soft Underwater Robot with an Electromagnetic Actuation
As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...
New Rochelle2024Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization
Alcherio Martinoli, Anwar Ahmad Quraishi
Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided locali ...
2021Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation
Jan Skaloud, Gabriel François Laupré
Autonomous navigation is a crucial aspect for fixed-wing unmanned aerial vehicle operation when encountering disturbance or denial of GNSS signal reception. Vehicle dynamic model-based navigation improves the performance of methods based exclusively on int ...
2021Model Based Navigation of Delta-Wing UAV - In-Flight Calibration and Autonomous Performance
Jan Skaloud, Gabriel François Laupré, Pasquale Longobardi
This paper presents the first practical results of a model-based approach to autonomous navigation applied to a small delta wing drone. The aerodynamic coefficients of the considered platform are unknown and need to be determined for the (vehicle dynamic) ...
2021Cooperative Multi-Robot Systems for Aquatic Environmental Sensing
Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at ...
EPFL2021Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles
Alcherio Martinoli, Anwar Ahmad Quraishi
One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental samp ...
2021Distributed Cooperative Localization with Efficient Pairwise Range Measurements
Alcherio Martinoli, Anwar Ahmad Quraishi
We present a method based on covariance intersection for cooperative localization with pairwise range-only relative measurements. Our method was designed for underwater robots equipped with an acoustic communication and ranging system. Range measurements a ...
2021