An Ensemble of Online Estimation Methods for One Degree-of-Freedom Models of Unmanned Surface Vehicles: Applied Theory and Preliminary Field Results with Eight Vehicles
Tyler M. Paine,Michael R. Benjamin,Tyler M. Paine,Michael R. Benjamin
In this paper we report an experimental evaluation of three popular methods for online system identification of unmanned surface vehicles (USVs) which were implemented as an ensemble: certifiably stable shallow recurrent neural network (RNN), adaptive identification (AID), and recursive least squares (RLS). The algorithms were deployed on eight USVs for a total of 30 hours of online estimation. Du...
