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Robust control for underwater vehicles despite currents

Published on:

8 April 2024

Primary Category:


Paper Authors:

Joris Verhagen,

Lars Lindemann,

Jana Tumova


Key Details

Proposes new notion of disturbance-robustness for vehicle behaviors

Method maximizes unknown current bounds vehicles can withstand

Employs reachability analysis to ensure satisfaction of behaviors

Demonstrates technique on autonomous underwater vehicle example

Proves soundness of approach to find maximally robust controllers

AI generated summary

Robust control for underwater vehicles despite currents

This paper introduces a new method to create controllers for underwater vehicles that can satisfy desired behaviors despite strong ocean currents of unknown strength. It is the first technique that jointly finds maximum current bounds and the controllers to satisfy behaviors within those bounds.

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