Motion planning and its optimization is vital and difficult for redundant robot manipulator in
an environment with obstacles. In this article, a general motion planning framework that …

The underwater glider (UG) is a new type of underwater vehicle and has gained enormous
attention in the field of ocean observation and detection. Compared with the traditional …

In practical autonomous vehicle systems, model uncertainty and measurement noise are two
challenging factors that deteriorate path tracking accuracy and system stability. This article …

We present a path planning framework for marine robots subject to uncertain ocean currents
that exploits data from ensemble forecasting, which is a technique for current prediction …

Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a
sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean …

Modeling uncertainties are a major concern in vehicle path tracking control. As a practical
engineering system, the uncertainties in vehicle lateral dynamics can be time-varying while …

We present a method to estimate two-dimensional, time-invariant oceanic flow fields based
on data from both ensemble forecasts and online measurements. Our method produces a …

Motion planning for vehicles under the influence of flow fields can benefit from the idea of
streamline-based planning, which exploits ideas from fluid dynamics to achieve …

We present an efficient approach for finding shortest paths in flow fields that vary as a
sequence of flow predictions over time. This approach is applicable to motion planning for …

We present a planning framework for min-imising the deterministic worst-case error in
sparse Gaus-sian process (GP) regression. We first derive a univer-sal worst-case error …