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Full-Text Articles in Military Vehicles
Uncertainty-Aware Estimation, Planning, And Control For Tracking Multiple Drifting Patches In Flow Fields, Daniel O. Akanji, Krishnanand N. Kaipa, Cong Wei
Uncertainty-Aware Estimation, Planning, And Control For Tracking Multiple Drifting Patches In Flow Fields, Daniel O. Akanji, Krishnanand N. Kaipa, Cong Wei
Mechanical & Aerospace Engineering Faculty Publications
In this study, we present a replay-based framework for uncertainty-aware persistent tracking of multiple advected surface patches using an autonomous marine vehicle operating in spatiotemporal-varying currents. The method combines three components: local flow estimation, covariance-aware patch-boundary propagation with intermittent boundary fusion, and mission-level scheduling over multiple patches. Each patch is represented by a polygonal boundary, whose vertices are propagated through the estimated flow field while carrying per-vertex covariance, thereby quantifying uncertainty growth during advection. A flow-aware gain-scheduled linear quadratic regulator (LQR) was designed to shape the desired surge speed to take advantage of favorable currents. When the vehicle services a …
Kinodynamic Motion Planning For A System With Squid Dynamics, Logan E. Beaver, Cong Wei, Wei-Kuo Yen
Kinodynamic Motion Planning For A System With Squid Dynamics, Logan E. Beaver, Cong Wei, Wei-Kuo Yen
Mechanical & Aerospace Engineering Faculty Publications
This paper introduces a path planning algorithm for a system with squid dynamics in a cluttered environment. We capture the complex interactions of fin, arms, and body patterning by analyzing experimental data collected from observing squid motion. We extract nine motion primitives to build the control sequence for a time-optimal trajectory. This task is formulated as a mixed-integer program, and we generate the minimum-time trajectory using a sample-based approach. Numerical simulations illustrate the efficacy of this strategy and motivate ongoing and future efforts to exploration of squid motion features, improvement of the modeling, and experimental demonstrations of the motion planning …