We develop and illustrate an efficient but rigorous methodology that predicts the time-
optimal paths of ocean vehicles in continuous dynamic flows. The goal is to best utilize or …

We develop an accurate partial differential equation-based methodology that predicts the
time-optimal paths of autonomous vehicles navigating in any continuous, strong, and …

A stochastic optimization methodology is formulated for computing energy-optimal paths
from among time-optimal paths of autonomous vehicles navigating in a dynamic flow field …

Ship intelligence has been a hot topic in recent years. How to achieve autonomous
maneuvers in a complex marine environment in a safe, efficient, and low-cost manner is a …

This paper describes path re-planning techniques and underwater obstacle avoidance for
unmanned surface vehicle (USV) based on multi-beam forward looking sonar (FLS). Near …

A multi-vehicle flocking and guidance control scheme is proposed for small autonomous
underwater vehicles in the presence of strong ocean flows that exceed vehicles' actuation …

We present a numerical method for minimum time heading control of fixed speed AUVs
(autonomous underwater vehicles) such as gliders in known, spatially complex, 2D, time …

In this paper, we present a novel operator theoretic framework for optimal placement of
actuators and sensors in nonlinear systems. The problem is motivated by its application to …

Motion planning for underwater vehicles must consider the effect of ocean currents. We
present an efficient method to compute reachability and cost between sample points in …

Motion planning for vehicles under the influence of flow fields can benefit from the idea of
streamline-based planning, which exploits ideas from fluid dynamics to achieve …