Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 12 of 12 for “"autonomous marine vehicles"”.
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Intent-aware collision avoidance for autonomous marine vehicles
Applications of autonomous marine vehicles in dynamic and uncertain environments continuously grow as research unveils new enabling technology and academic, commercial, and government entities pursue new marine autonomy concepts. The safe operation of these vehicles in the marine domain, which is …
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Adaptive Collaborative Channel Finding Approaches for Autonomous Marine Vehicles
… that crosses a body of water, using one or more Autonomous Marine Vehicles (AMVs). A new algorithm called Proposal Based Adaptive Channel Search (PBACS) is presented as a potential solution that improves upon current methods. The empirical performance of PBACS is compared to lawnmower surveying …
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Multi-contact protocol-constrained collision avoidance for autonomous marine vehicles
The field of autonomous collision avoidance has continued to advance in many areas including sensory and perception, navigation, payload integration, and collision avoidance. The advances in collision avoidance, however, have largely focused on iterative changes to the velocity obstacle - an …
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Progressively communicating rich telemetry from autonomous underwater vehicles via relays
… and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to the data acquired by a vehicle, surface operators cannot fully understand the state of the mission. Communicating imagery and high-resolution sensor readings to …
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Progressively communicating rich telemetry from autonomous underwater vehicles via relays
… and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to the data acquired by a vehicle, surface operators cannot fully understand the state of the mission. Communicating imagery and high-resolution sensor readings to …
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Autonomous cooperation of heterogeneous platforms for sea-based search tasks
Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission …
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Methods for Testing COLREGS Compliance in AutonomousSurface Vehicles
… there is an increasing number of uncrewed and autonomous surface vessels operating at sea. Preventing collisions at sea is of paramount importance to safeguard lives, protect the marine environment, and maintain smooth maritime operations. Effectively preventing collisions at sea between manned …
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Underwater vehicle localization using range measurements
… the problem of cooperative navigation of autonomous marine vehicles using range-only acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic …
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Advances in integrating autonomy with acoustic communications for intelligent networks of marine robots
Autonomous marine vehicles are increasingly used in clusters for an array of oceanographic tasks. The effectiveness of this collaboration is often limited by communications: throughput, latency, and ease of reconfiguration. This thesis argues that improved communication on intelligent marine …
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Advances in integrating autonomy with acoustic communications for intelligent networks of marine robots
Autonomous marine vehicles are increasingly used in clusters for an array of oceanographic tasks. The effectiveness of this collaboration is often limited by communications: throughput, latency, and ease of reconfiguration. This thesis argues that improved communication on intelligent marine …
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Applied Nonlinear Control of Unmanned Vehicles with Uncertain Dynamics
… research concerns the control of unmanned vehicles. The results introduced in this dissertation provide a solid control framework for a wide class of nonlinear uncertain systems, with a special emphasis on issues related to implementation, such as control input amplitude and rate …
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3D Simulation of the Velodyne HDL-32E Lidar Integrated with an Autonomous Marine Vehicle
… HDL-32E LIDAR used on the WAM-V vehicle in the marine environment for obstacle detection. The model takes into account sensor integration, sensor error, and error correction. Theoretical analysis includes consideration of atmospheric refraction, time of flight error, UDP packet and timing, …