High-level subsumption-based control architecture for sail-powered autonomous surface vehicles

This work proposes a high-level control architecture for an Autonomous Surface Vessel (ASV) designed to overcome the challenges associated with executing missions under varying weather conditions and with energy autonomy. The project is built on the understanding that while a number of low-level con...

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Bibliografiska uppgifter
Huvudupphovsman: Negreiros, Álvaro Pinto Fernandes de
Övriga upphovsmän: Gonçalves, Luiz Marcos Garcia
Materialtyp: doctoralThesis
Språk:English
Publicerad: Universidade Federal do Rio Grande do Norte
Ämnen:
Veleiros
USV
Arquitetura de controle
Arquitetura de subsunção
ROS
Gazebo
Reinforce Learning
PPO
Sailboats
Control architectures
Subsumption
CNPQ::CIENCIAS EXATAS E DA TERRA
Länkar:https://repositorio.ufrn.br/handle/123456789/55159
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https://repositorio.ufrn.br/handle/123456789/55159

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