Robust path planning and trajectory optimization framework for tethered ASV-AUV
This paper introduces a novel framework for path planning and trajectory optimization for a tethered multi-robot system consisting of an Autonomous Surface Vehicle (ASV) and an Autonomous Underwater Vehicle (AUV). The framework addresses the challenges of coordinating and navigating these robots, in...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/411374 |
| Acceso en línea: | https://hdl.handle.net/2117/411374 https://dx.doi.org/10.5821/iwp.2024.23.14148 |
| Access Level: | acceso abierto |
| Palabra clave: | Automated vehicles Autonomous underwater vehicles Path planning Multi-agent systems Coordination Vehicles autònoms Vehicles submergibles autònoms Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | This paper introduces a novel framework for path planning and trajectory optimization for a tethered multi-robot system consisting of an Autonomous Surface Vehicle (ASV) and an Autonomous Underwater Vehicle (AUV). The framework addresses the challenges of coordinating and navigating these robots, including the dynamic behavior of the tether within the robot team and environmental obstacles. The findings hold promise for future research and practical deployments in areas requiring precise coordination and movement, such as underwater inspection and maintenance. |
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