Autonomous Underwater Docking using Flow State Estimation and Model Predictive Control.
Rakesh VvekanandanDongsik ChangGeoffrey A. HollingerPublished in: ICRA (2023)
Keyphrases
- state estimation
- model predictive control
- control system
- predictive control
- particle filter
- dynamic systems
- kalman filter
- state space model
- kalman filtering
- visual tracking
- extended kalman filter
- autonomous underwater vehicles
- real time
- particle filtering
- control scheme
- machine learning
- cooperative
- video sequences
- three dimensional
- robotic systems
- multiple models
- flow field
- experimental data