A feedback-augmented, risk-aware trajectory optimizer (RA-SAA+FB) is shown in simulation to reduce collision rate and energy use for a tethered USV-UUV litter collection system.
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Risk-Aware Trajectory Optimization and Control for an Underwater Suspended Robotic System
A feedback-augmented, risk-aware trajectory optimizer (RA-SAA+FB) is shown in simulation to reduce collision rate and energy use for a tethered USV-UUV litter collection system.