⌛⌛ Under Construction ⌛⌛
- To be noted: this playground utilises CasADi as a solver within a Nonlinear Model Predictive Controller. To avoid issues when running the NMPC launchpad, the version of the Windows CasADi package at the time of upload is included within this repository.
Relevant Publications (chronological order):
[1] K. L. Walker et al., ”Experimental Validation of Wave Induced Disturbances for Predictive Station Keeping of a Remotely Operated Vehicle”, IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5421-5428, July 2021. (Available here)
[2] R. Gabl, T. Davey, Y. Cao, Q. Li, B. Li, K. L. Walker, et al., ”Hydrodynamic loads on a restrained ROV under waves and current”, Ocean Engineering, vol. 234, Aug. 2021. (Available here)
[3] K. L. Walker, Adam A. Stokes, Aristides Kiprakis and F. Giorgio-Serchi, "Feed-forward Disturbance Compensation for Station Keeping in Wave-dominated Environments", Oceans 2023, Limerick, pp. 1-7, June 2023. (Available here)
[4] K. L. Walker and F. Giorgio-Serchi, "Disturbance Preview for Non-Linear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, pp. 6169-6176, Oct. 2023. (Available here)
[5] K. L. Walker, L. Jordan and F. Giorgio-Serchi, "Nonlinear model predictive dynamic positioning of a remotely operated vehicle with wave disturbance preview", The International Journal of Robotics Research, Detroit, pp. 1-20, Oct. 2024. (Online early access).