Výsledky vyhledávání - "Mauro Candeloro"

A Voronoi-diagram-based dynamic path-planning system for underactuated marine vessels

Autor: Asgeir J. Sørensen, Anastasios M. Lekkas, Mauro Candeloro

Publikováno v: Control Engineering Practice. 61:41-54

The main contribution of this paper is the development of a rapid, dynamic path-planning system for 3-DOF marine surface vessels navigating in environments where other marine vehicles might be operating too. The method is based on the Voronoi diagram

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::bda58675c5787776d9034b710db24445
https://doi.org/10.1016/j.conengprac.2017.01.007

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Sensor-based Autonomous Path-Planner for Sea-Bottom Exploration and Mosaicking∗∗This work has been carried out at the Centre for Autonomous Marine Operations and Systems (AMOS). The Norwegian Research Council is acknowledged as the main sponsor of AMOS through the Centres of Excellence funding scheme, Project number 223254

Autor: Martin Ludvigsen, Mauro Candeloro, Fernando Mosciaro, Gianluca Ippoliti, Asgeir J. Sørensen

Publikováno v: IFAC-PapersOnLine. 48:31-36

A typical mission for an underwater vehicle is to research and map OOIs (Objects Of Interest). Objects Of Interest are specified in connection with the mission purposes, relevant examples span from biological species (e.g. seagrass or coral colonies)

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::096c3208d8389349f9ae14f015c8631f
https://doi.org/10.1016/j.ifacol.2015.10.254

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Outlier Rejection in Underwater Acoustic Position Measurements Based on Prediction Errors

Autor: Ingrid Schjølberg, Anastasios M. Lekkas, Mauro Candeloro

Publikováno v: IFAC-PapersOnLine. 48:82-87

Outlier detection and rejection is an important step toward more robust underwater navigation systems. More specifically, acoustic positioning measurements can be notoriously intractable by introducing spikes, or freezing for periods of time, hence d

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::92dba063c3072422d634b91c8b08077d
https://doi.org/10.1016/j.ifacol.2015.06.014

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Glowing in the dark: discriminating patterns of bioluminescence from different taxa during the Arctic polar night

Autor: Geir Johnsen, Mauro Candeloro, Jørgen Berge, Mark Moline

Publikováno v: Polar Biology. 37:707-713

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::6666979fc2d3ea6b615bd5a4908ab72f
https://doi.org/10.1007/s00300-014-1471-4

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Relative velocity control and integral line of sight for path following of autonomous surface vessels: Merging intuition with theory

Autor: Asgeir J. Sørensen, Kristin Y. Pettersen, Mauro Candeloro, Walter Caharija, Jan Tommy Gravdahl

Publikováno v: Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment. 228:180-191

The integral line-of-sight guidance law for path following applications of autonomous surface vessels is presented in a unified manner, merging intuitive and theoretical aspects of this valuable control technique. Straight line path following scenari

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::e8b7bfd953251bba0c65c8af464c4d59
https://doi.org/10.1177/1475090213512293

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Continuous Curvature Path Planning using Voronoi diagrams and Fermat's spirals

Autor: Asgeir J. Sørensen, Anastasios M. Lekkas, Thor I. Fossen, Mauro Candeloro

Publikováno v: IFAC Proceedings Volumes. 46:132-137

This paper presents a two-dimensional curvature-continuous path planning algorithm based on Voronoi diagrams and Fermat's spiral segments. The map and the obstacles position are assumed to be known a-priori and static. Despite the disposition of the

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::023142119ff854ec556d8ef21c0ce072
https://doi.org/10.3182/20130918-4-jp-3022.00064

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A 3D dynamic Voronoi diagram-based path-planning system for UUVs

Autor: Mauro Candeloro, Jeevith Hegde, Asgeir J. Sørensen, Anastasios M. Lekkas

Publikováno v: OCEANS 2016 MTS/IEEE Monterey.

This paper proposes a rapid path-planning and replanning system for Unmanned Underwater Vehicles (UUVs) that navigate in environments where subsea structures and other vehicles may be present. The proposed method is based on the Voronoi diagram, whic

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::ce29db2f845b83c1cbb60dbe8ff6e364
https://doi.org/10.1109/oceans.2016.7761427

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Analysis of a Multi-Objective Observer for UUVs

Autor: Sauro Longhi, Asgeir J. Sørensen, Fabio Dezi, Mauro Candeloro

Publikováno v: IFAC Proceedings Volumes. 45:343-348

UUVs (Unmanned Underwater Vehicles) were introduced in the past to perform various operations in the ocean environment such as marine biology mapping and monitoring, archaeology and oil and gas inspections and interventions. In this paper the operati

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::81d2b9db43e063b6f4c2e17f50a8acfa
https://doi.org/10.3182/20120410-3-pt-4028.00057

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Observers for Dynamic Positioning of ROVs with Experimental Results

Autor: Fredrik Dukan, Mauro Candeloro, Sauro Longhi, Asgeir J. Sørensen

Publikováno v: IFAC Proceedings Volumes. 45:85-90

This paper proposes a set of model-based observers included in the DP (Dynamic Positioning) system of the ROV Minerva operated by NTNU. In particular, the observers and the other main components of the DP control system are described. A linear Kalman

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::3ae8117331a6da68a196677ec704c911
https://doi.org/10.3182/20120919-3-it-2046.00015

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