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Autonomous Landing of an Unmanned Aerial Vehicle on an Unmanned Surface Vessel using Model Predictive Control with an Adaptive-Covariance Extended Kalman Filter

Estupinan, Jorge

… on an USV under smooth, slight, and moderate sea conditions. In the simulations, a linear model of the sea state was employed based on Airy Theory. As part of these studies, the AEKF parameters, as well as the MPC prediction and control horizons, were optimized for the different flight phases …

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