10,941 research outputs found
An Autonomous Surface Vehicle for Long Term Operations
Environmental monitoring of marine environments presents several challenges:
the harshness of the environment, the often remote location, and most
importantly, the vast area it covers. Manual operations are time consuming,
often dangerous, and labor intensive. Operations from oceanographic vessels are
costly and limited to open seas and generally deeper bodies of water. In
addition, with lake, river, and ocean shoreline being a finite resource,
waterfront property presents an ever increasing valued commodity, requiring
exploration and continued monitoring of remote waterways. In order to
efficiently explore and monitor currently known marine environments as well as
reach and explore remote areas of interest, we present a design of an
autonomous surface vehicle (ASV) with the power to cover large areas, the
payload capacity to carry sufficient power and sensor equipment, and enough
fuel to remain on task for extended periods. An analysis of the design and a
discussion on lessons learned during deployments is presented in this paper.Comment: In proceedings of MTS/IEEE OCEANS, 2018, Charlesto
Agile Calibration Process of Full-Stack Simulation Frameworks for V2X Communications
Computer simulations and real-world car trials are essential to investigate
the performance of Vehicle-to-Everything (V2X) networks. However, simulations
are imperfect models of the physical reality and can be trusted only when they
indicate agreement with the real-world. On the other hand, trials lack
reproducibility and are subject to uncertainties and errors. In this paper, we
will illustrate a case study where the interrelationship between trials,
simulation, and the reality-of-interest is presented. Results are then compared
in a holistic fashion. Our study will describe the procedure followed to
macroscopically calibrate a full-stack network simulator to conduct
high-fidelity full-stack computer simulations.Comment: To appear in IEEE VNC 2017, Torino, I
Model Predictive Control Based Trajectory Generation for Autonomous Vehicles - An Architectural Approach
Research in the field of automated driving has created promising results in
the last years. Some research groups have shown perception systems which are
able to capture even complicated urban scenarios in great detail. Yet, what is
often missing are general-purpose path- or trajectory planners which are not
designed for a specific purpose. In this paper we look at path- and trajectory
planning from an architectural point of view and show how model predictive
frameworks can contribute to generalized path- and trajectory generation
approaches for generating safe trajectories even in cases of system failures.Comment: Presented at IEEE Intelligent Vehicles Symposium 2017, Los Angeles,
CA, US
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