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Authors: Filip Novák ; Tomáš Báča ; Ondřej Procházka and Martin Saska

Affiliation: Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic

Keyword(s): Unmanned Aerial Vehicle, Unmanned Surface Vehicle, Boat Dynamics, Boat Model, State Estimation.

Abstract: This paper introduces a system designed for tight collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) in harsh maritime conditions characterized by large waves. This onboard UAV system aims to enhance collaboration with USVs for following and landing tasks under such challenging conditions. The main contribution of our system is the novel mathematical USV model, describing the movement of the USV in 6 degrees of freedom on a wavy water surface, which is used to estimate and predict USV states. The estimator fuses data from multiple global and onboard sensors, ensuring accurate USV state estimation. The predictor computes future USV states using the novel mathematical USV model and the last estimated states. The estimated and predicted USV states are forwarded into a trajectory planner that generates a UAV trajectory for following the USV or landing on its deck, even in harsh environmental conditions. The proposed approach was verified in numerou s simulations and deployed to the real world, where the UAV was able to follow the USV and land on its deck repeatedly. (More)

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Paper citation in several formats:
Novák, F., Báča, T., Procházka, O. and Saska, M. (2024). Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7; ISSN 2184-2809, SciTePress, pages 545-554. DOI: 10.5220/0012910000003822

@conference{icinco24,
author={Filip Novák and Tomáš Báča and Ond\v{r}ej Procházka and Martin Saska},
title={Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={545-554},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012910000003822},
isbn={978-989-758-717-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Towards UAV-USV Collaboration in Harsh Maritime Conditions Including Large Waves
SN - 978-989-758-717-7
IS - 2184-2809
AU - Novák, F.
AU - Báča, T.
AU - Procházka, O.
AU - Saska, M.
PY - 2024
SP - 545
EP - 554
DO - 10.5220/0012910000003822
PB - SciTePress

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