Optimization of Controlled Free-Time Sweeping Processes with Applications to Marine Surface Vehicle Modeling

无人水面车辆与纳米粒子建模中清扫过程的最优控制

Optimal control of sweeping processes in unmanned surface vehicle and nanoparticle modeling

本文研究了带自由时间及状态约束的受控清扫过程必要最优性条件在无人水面车辆和纳米粒子建模中的应用，提出了求解该类动力学系统的有效程序并给出了数值计算。

最大化科学影响力的海洋自主航行器集群调度

Marine Autonomous Vehicle Fleet Scheduling to Maximise Scientific Impact

该研究针对海洋自主航行器集群调度难题，提出混合整数线性规划模型，整合船舶航线实现高效调度，可快速求解大规模集群问题，兼具调度与仿真功能，支持战略决策。

在存在洋流情况下海洋船舶的在线近似最优定位保持

Online Approximate Optimal Station Keeping of a Marine Craft in the Presence of a Current

本文研究了在存在洋流情况下，如何通过自适应动态规划技术在线近似完全驱动的六自由度海洋船舶的最优定位保持策略，并通过自主水下机器人实验验证了该方法的有效性。

An Optimization-Based Motion Planner for Autonomous Maneuvering of Marine Vessels in Complex Environments

The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to be accounted for in order to successfully steer the vehicle. In this work, a two-step optimization-based motion planner is proposed for autonomous maneuvering of ships in constrained environments such as harbors. A lattice-based motion planner is used in a first step to compute a feasible, but suboptimal solution to a discretized version of the motion planning problem. This solution is then used to enable efficient w…

无人水下航行器的最优平均时间路径规划：一种哈密顿-雅可比方法

Optimal mean-time path planning for unmanned underwater vehicles: a Hamilton-Jacobi approach

研究无人水下航行器在多种海洋预报下的最优平均时间路径规划，用哈密顿-雅可比偏微分方程考虑预报不确定性，给出最优平均可达旅行时间与控制，扩展快速扫描法求解方程并验证。

Autonomous Tracking and State Estimation with Generalised Group Lasso

We address the problem of autonomous tracking and state estimation for marine vessels, autonomous vehicles, and other dynamic signals under a (structured) sparsity assumption. The aim is to improve the tracking and estimation accuracy with respect to classical Bayesian filters and smoothers. We formulate the estimation problem as a dynamic generalised group Lasso problem and develop a class of smoothing-and-splitting methods to solve it. The Levenberg--Marquardt iterated extended Kalman smoother-based multi-block alternating direction method of multipliers (LM-IEKS-mADMM) algorithms are based …