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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA23-07517S" target="_blank" >GA23-07517S: Agilní roje létajících robotů se spolehlivým multimodálním vnímáním a estimací svého stavu</a><br>

Návaznosti

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

Rok uplatnění

2025

Kód důvěrnosti údajů

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

Název periodika

Ocean Engineering

ISSN

0029-8018

e-ISSN

1873-5258

Svazek periodika

323

Číslo periodika v rámci svazku

April

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

15

Strana od-do

—

Kód UT WoS článku

001428374800001

EID výsledku v databázi Scopus

2-s2.0-85217792438