An Application of Graph of Convex Sets Trajectory Optimization to the Marine Robotics Domain

Autonomous unmanned surface vehicles (USVs) and unmanned underwater vehicles (UUVs) are becoming ubiquitous in applications exploring marine environments, and the design of path planning algorithms for these vehicles remains an open area of research. For marine environments, to save on energy a path...

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Bibliographic Details
Main Author: Largaespada, Raul Alexander
Other Authors: Leonard, John J.
Format: Thesis
Published: Massachusetts Institute of Technology 2023
Online Access:https://hdl.handle.net/1721.1/152742