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Open Access Publications from the University of California

Toward Precise Control of a Robotic Boat

  • Author(s): Vedantam, Satish
  • Zhang, Wenyi
  • Mitra, Urbashi
  • Sabharwal, Ashutosh
  • et al.

Unmanned surface vehicles (USVs) are subjected to external forces such as wind, water currents and waves which make their control challenging. Typical problems in USV control involve navigation, trajectory tracking and station keeping. Station keeping implies dynamic positioning in order to reject disturbances while holding position. This is necessary when sensors need a sufficiently large warm-up and/or dwell time, to ensure that the data collected pertains to the appropriate location where measurements are being made. This poster describes ongoing work on the robotic boat RoboDuck-II in addressing these issues.

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