Trajectory Planning for Sensors and Payloads Moving Through Mixed and Uncertain Media
Camilo Ordonez,David Jay,Christian Hubicki,Camilo Ordonez,David Jay,Christian Hubicki
Heterogeneous robotic systems in the field often encounter bodies of water with unknown traversability properties. One approach to measuring depth, current, soil composition, etc. is via an in situ underwater sensor being dragged by cable attached to a maneuvering airborne multicopter - which entails a novel motion planning and control problem with mixed resistive media. In this work we propose a ...
