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Proceedings Paper

A practical approach to considering uncertainties in the creation of autonomous behaviors in unmanned surface vehicles
Author(s): Zi Jing Bay; Chor Wei Yew; Kwok Wai Yue; Yip Fatt Lee; Ai Peng New; Hao Yi Gan
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Paper Abstract

Unmanned Surface Vehicles (USVs) have been proposed for use in several mission-critical operations in recent years. Although many autonomous behaviors have been developed by the research community, USV systems are greatly limited in functionality due to imperfect perception information and uncertainties in platform control. This paper presents a practical approach in considering these issues during the creation of autonomous behaviors. The approach allows autonomous behaviors to consider imperfect perception information and uncertainties in control during planning, and has been demonstrated successfully on a 9 meter USV.

Paper Details

Date Published: 3 June 2014
PDF: 6 pages
Proc. SPIE 9084, Unmanned Systems Technology XVI, 90840Y (3 June 2014); doi: 10.1117/12.2048816
Show Author Affiliations
Zi Jing Bay, DSO National Labs. (Singapore)
Chor Wei Yew, Tigerlab Pte Ltd. (Singapore)
Kwok Wai Yue, DSO National Labs. (Singapore)
Yip Fatt Lee, DSO National Labs. (Singapore)
Ai Peng New, DSO National Labs. (Singapore)
Hao Yi Gan, DSO National Laboratories (Singapore)


Published in SPIE Proceedings Vol. 9084:
Unmanned Systems Technology XVI
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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