Sammendrag
Guaranteeing safe autonomous operations of AUVs in off-shore aquaculture settings is a notoriously
challenging problem due to waves, motion errors, currents, uncertainty, and moving objects in proximity.
The new motion planning framework presented, called ResiPlan, can operate in arbitrary cluttered environments
and guarantee real-time safety in all the above conditions by monitoring the external conditions
and the performance of the robot itself.
This contribution was obtained as part of the ResiFarm project.
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