Journal of the ACM (JACM)
Markov Decision Processes: Discrete Stochastic Dynamic Programming
Markov Decision Processes: Discrete Stochastic Dynamic Programming
Simulation of Surface Ship Dynamics
DOD_UGC '03 Proceedings of the 2003 DoD User Group Conference
Rigid fluid: animating the interplay between rigid bodies and fluid
ACM SIGGRAPH 2004 Papers
Focussed Propagation of MDPs for Path Planning
ICTAI '04 Proceedings of the 16th IEEE International Conference on Tools with Artificial Intelligence
Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
International Journal of Robotics Research
Planning Algorithms
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
International Journal of Robotics Research
A fast variational framework for accurate solid-fluid coupling
ACM SIGGRAPH 2007 papers
Approximate Dynamic Programming: Solving the Curses of Dimensionality (Wiley Series in Probability and Statistics)
Autonomous sailboat navigation for short course racing
Robotics and Autonomous Systems
Direct Forcing for Lagrangian Rigid-Fluid Coupling
IEEE Transactions on Visualization and Computer Graphics
Differentially constrained mobile robot motion planning in state lattices
Journal of Field Robotics - Special Issue on Space Robotics, Part I
Bayesian real-time dynamic programming
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance
Journal of Intelligent and Robotic Systems
Artificial Intelligence: A Modern Approach
Artificial Intelligence: A Modern Approach
State-dependent trajectory planning and tracking control of unmanned surface vessels
ACC'09 Proceedings of the 2009 conference on American Control Conference
A hybrid receding horizon control method for path planning in uncertain environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part I
Robotics and Autonomous Systems
Fluid-structure coupling using lattice-Boltzmann and fixed-grid FEM
Finite Elements in Analysis and Design
Iterative MILP methods for vehicle-control problems
IEEE Transactions on Robotics
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This paper describes GPU based algorithms to compute state transition models for unmanned surface vehicles (USVs) using 6 degree of freedom (DOF) dynamics simulations of vehicle-wave interaction. A state transition model is a key component of the Markov Decision Process (MDP), which is a natural framework to formulate the problem of trajectory planning under motion uncertainty. The USV trajectory planning problem is characterized by the presence of large and somewhat stochastic forces due to ocean waves, which can cause significant deviations in their motion. Feedback controllers are often employed to reject disturbances and get back on the desired trajectory. However, the motion uncertainty can be significant and must be considered in the trajectory planning to avoid collisions with the surrounding obstacles. In case of USV missions, state transition probabilities need to be generated on-board, to compute trajectory plans that can handle dynamically changing USV parameters and environment (e.g., changing boat inertia tensor due to fuel consumption, variations in damping due to changes in water density, variations in sea-state, etc.). The 6 DOF dynamics simulations reported in this paper are based on potential flow theory. We also present a model simplification algorithm based on temporal coherence and its GPU implementation to accelerate simulation computation performance. Using the techniques discussed in this paper we were able to compute state transition probabilities in less than 10 min. Computed transition probabilities are subsequently used in a stochastic dynamic programming based approach to solve the MDP to obtain trajectory plan. Using this approach, we are able to generate dynamically feasible trajectories for USVs that exhibit safe behaviors in high sea-states in the vicinity of static obstacles.