Real-time hybrid design of tracking control and obstacle avoidance for underactuated underwater vehicles
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
For underactuated underwater vehicles, a real-time hybrid design of dynamic tracking control law is proposed for trajectory tracking and obstacle avoidance. In recent works, sliding mode control (SMC) law has been presented and experimentally implemented for position tracking of an underactuated autonomous surface vessel. It is extended to the underactuated underwater vehicle case and finds it still work for trajectory tracking problem. The thruster saturation problem is considered for the real case. The major innovation is the solution of how to deal with obstacle avoidance in the predefined trajectory tracking mission. In order to deal with this problem, a hybrid control strategy is proposed for static and dynamic obstacle case respectively. Then, to show the effectiveness of the proposed method, trajectory tracking control under different conditions are conducted including static and dynamic obstacles. The experiment results show that the proposed method can deal with tracking and obstacle avoidance quite well.
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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 | 0.002 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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