A GPU-accelerated symbolic controller with formal safety guarantees was used to dock a scale-model vessel around static obstacles, validated in simulation and a towing tank.
Long-range UWB positioning based automatic docking trajectory design for unmanned surface vehicle,
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Symbolic Control for Autonomous Docking of Marine Surface Vessels
A GPU-accelerated symbolic controller with formal safety guarantees was used to dock a scale-model vessel around static obstacles, validated in simulation and a towing tank.