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Published at December 10

Dynamic Obstacle Avoidance of Unmanned Surface Vehicles in Maritime Environments Using Gaussian Processes Based Motion Planning

cs.RO

Released Date: December 10, 2024

Authors: Jiawei Meng¹, Yuanchang Liu, Danail Stoyanov

Aff.: ¹University College London

Arxiv: http://arxiv.org/pdf/2412.07664v1

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Abbreviations	Definitions
2-D	2 dimensional
3-D	3 dimensional
k-D	k dimensional
AIS	Automatic identification system
AUV	Autonomous underwater vehicle
CV	Constant-velocity
CV-SL	Constant-velocity straight-line
D-GPMP2	Dynamic Gaussian process motion planner 2
GPS	Global positioning system
GP	Gaussian process
GP-based	Gaussian-process-based
GPMP2	Gaussian process motion planner 2
LTV-SDE	Linear time-varying stochastic differential equation
MAP	Maximum a posterior
MATLAB	Matrix laboratory
ROS	Robotics operating system
USV	Unmanned surface vehicle
WAM-V 20	Wave adaptive modular vessel 20