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A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles
This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...
Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy
(Journal article; Peer reviewed, 2016)
This paper analyzes an integral line-of-sight guidance law applied to an underac-tuated underwater vehicle. The vehicle is rigorously modeled in 5 degrees of freedom usingphysical principles, and it is ...