Guidance and control system development for Unmanned Marine Vehicles is a well known and consolidated issue, but a general guideline for quantitatively measuring the performance of robotic systems and comparing them is still lacking in the literature. The importance of establishing standards to follow has become more and more stronger, in particular whenever heterogeneous platforms are employed in a common framework. This work focuses on the denition and exploitation of performance indices for marine robotics applications, paying special attention to path-following tasks. Theoretical formalisations for the considered indices, as well as experimental results proving their effectiveness, are reported.

Saggini, E., Zereik, E., Bibuli, M., Bruzzone, G., Caccia, M., Riccomagno, E., Performance Indices for Evaluation and Comparison of Unmanned Marine Vehicles' Guidance Systems, Paper, in Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, (Cape Town, 24-29 August 2014), International Federation of Automatic Control, Cape Town 2014: 12182-12187 [http://hdl.handle.net/10807/78808]

Performance Indices for Evaluation and Comparison of Unmanned Marine Vehicles' Guidance Systems

Saggini, Eleonora
Primo
;
2014

Abstract

Guidance and control system development for Unmanned Marine Vehicles is a well known and consolidated issue, but a general guideline for quantitatively measuring the performance of robotic systems and comparing them is still lacking in the literature. The importance of establishing standards to follow has become more and more stronger, in particular whenever heterogeneous platforms are employed in a common framework. This work focuses on the denition and exploitation of performance indices for marine robotics applications, paying special attention to path-following tasks. Theoretical formalisations for the considered indices, as well as experimental results proving their effectiveness, are reported.
Inglese
Proceedings of the 19th IFAC World Congress, Cape Town, South Africa
19th World Congress of the International Federation of Automatic Control
Cape Town
Paper
24-ago-2014
29-ago-2014
International Federation of Automatic Control
Saggini, E., Zereik, E., Bibuli, M., Bruzzone, G., Caccia, M., Riccomagno, E., Performance Indices for Evaluation and Comparison of Unmanned Marine Vehicles' Guidance Systems, Paper, in Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, (Cape Town, 24-29 August 2014), International Federation of Automatic Control, Cape Town 2014: 12182-12187 [http://hdl.handle.net/10807/78808]
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/10807/78808
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 11
  • ???jsp.display-item.citation.isi??? ND
social impact