EROAS augments 2D FLS with pivoting for 2.5D sonar and integrates SPD2C, SCG, and ST-CBF modules to achieve reactive 3D obstacle avoidance in AUVs, outperforming DWA and APF in simulation and HIL tests.
Combining control barrier functions and behavior trees for multi-agent underwater coverage missions
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2024 1verdicts
UNVERDICTED 1representative citing papers
citing papers explorer
-
EROAS: 3D Efficient Reactive Obstacle Avoidance System for Autonomous Underwater Vehicles using 2.5D Forward-Looking Sonar
EROAS augments 2D FLS with pivoting for 2.5D sonar and integrates SPD2C, SCG, and ST-CBF modules to achieve reactive 3D obstacle avoidance in AUVs, outperforming DWA and APF in simulation and HIL tests.