Graphical Interface To Create And Suggest A Travel Day Plan To A User

A graphical user interface provides a suggested travel day plan and allows a user to create or modify a suggested day plan. The user may select and pin sites of interest that are then generated in an itinerary for the day. The plan can be updated and refreshed by the user to add or delete pinned sites in the generated day plan until a satisfactory plan is provided

A differential geometric approach to path planning and control design for autonomous underwater vehicles

This work focuses on the automatic generation of control inputs for the thrusters of Autonomous Underwater Vehicles, given a path to follow in six dimensions. The control strategy applied is model-driven and designed in a open-loop fashion, as most AUVs do not have reliable localization systems. This approach can be also extended in a closed-loop control scheme to improve robustness. The inputs generating framework is designed using differential geometric control theory, which provides a singularity free description of the vehicle model. This approach has been tested in simulations, using both a fully actuated vehicle model and an underactuated one. The latter configuration could be the result of a thrusters failure, which the differential geometric approach is able to overcome. Experimental trials have been carried out in a controlled environment using a fully actuated vehicle

Geometric control for autonomous underwater vehicles: Overcoming a thruster failure

The goal of this paper is to show how geometric control theory can be used to design efficient trajectories for an autonomous underwater vehicle descending into a basin, as well as performing its recovery after experiencing an actuator failure. The underwater vehicle is modeled as a forced affine connection control system, and the control strategies are developed through the use of integral curves of rank one and kinematic reductions. Such a method is particularly efficient in case of actuator failure and it provides a constructive way to design trajectories for the new under-actuated system. A typical scenario of basin descent is presented, control signals are computed to realize the desired trajectories and some simulations are provided