Learning-based Nonlinear Model Predictive Control of Reconfigurable Autonomous Robotic Boats: Roboats

Learning-based Nonlinear Model Predictive Control of Reconfigurable Autonomous Robotic Boats: Roboats

© 2019 IEEE. This paper presents a Learning-based Nonlinear Model Predictive Control (LB-NMPC) algorithm for reconfigurable autonomous vessels to facilitate high-accurate path tracking. Each vessel is designed to latch to a pre-defined point of another vessel that allows the vessels to form a rigid...

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Bibliographic Details
Main Authors: Kayacan, Erkan, Park, Shinkyu, Ratti, Carlo, Rus, Daniela
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:English
Published: IEEE 2021
Online Access:https://hdl.handle.net/1721.1/137160

Internet

https://hdl.handle.net/1721.1/137160

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