State estimation of marine vessels affected by waves by unmanned aerial vehicles

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00381158" target="_blank" >RIV/68407700:21230/25:00381158 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.oceaneng.2025.120606" target="_blank" >https://doi.org/10.1016/j.oceaneng.2025.120606</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.oceaneng.2025.120606" target="_blank" >10.1016/j.oceaneng.2025.120606</a>

Result language

angličtina

Original language name

State estimation of marine vessels affected by waves by unmanned aerial vehicles

Original language description

A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object manipulation, regardless of weather conditions. Our study of marine vessel (in our case Unmanned Surface Vehicle (USV)) dynamics influenced by strong wave motion has resulted in a novel nonlinear mathematical USV model with 6 degrees of freedom (DOFs), which is required for precise USV state estimation and motion prediction. The proposed state estimation and prediction approach fuses data from multiple sensors onboard the UAV and the USV to enable redundancy and robustness under varying weather conditions of real-world applications. The proposed approach provides estimated states of the USV with 6 DOFs and predicts its future states to enable tight control of both vehicles on a receding control horizon. The proposed approach was extensively tested in the realistic Gazebo simulator and successfully experimentally validated in many real-world experiments representing different application scenarios, including agile landing on an oscillating and moving USV. A comparative study indicates that the proposed approach significantly surpassed the current state-of-the-art.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/GA23-07517S" target="_blank" >GA23-07517S: Agile swarms of aerial robots with reliable multimodal sensing and state-estimation capabilities</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2025

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Ocean Engineering

ISSN

0029-8018

e-ISSN

1873-5258

Volume of the periodical

323

Issue of the periodical within the volume

April

Country of publishing house

GB - UNITED KINGDOM

Number of pages

15

Pages from-to

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UT code for WoS article

001428374800001

EID of the result in the Scopus database

2-s2.0-85217792438