REAL-TIME OBSTACLE AVOIDANCE FOR AN UNDERACTUATED FLAT-FISH TYPE AUTONOMOUS UNDERWATER VEHICLE IN 3D SPACE
Why this work is in the frame
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Bibliographic record
Abstract
This paper discusses a real-time obstacle avoidance algorithm and its implementation for an underactuated flat-fish type autonomous underwater vehicle (AUV) in 3D space. The algorithm has been developed using multi-point potential field (MPPF) method and its real-time testing is carried out using hardware-in-loop (HIL) simulations. In MPPF method, a region of predefined radius on a hemisphere in the positive x-axis around the bow of an AUV is discretized into equiangular points with centre as the current position. By determining the point at which the minimum total potential exists, the vehicle can be moved towards that point. Here the analytical gradient of the total potential function is not calculated as it is not essentially required for moving the vehicle to the next position. The MPPF method is interfaced with dynamic model of an underactuated flat-fish type AUV and it is tested and verified using HIL simulation tool. The details of the dynamics of AUV, MPPF method and its implementation, development of HIL test bench and the simulation results are presented in this paper. The results show that the proposed MPPF method is very effective for obstacle avoidance in 3D space and can be used in the real-time control of the AUV.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it