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EnglishGuidance 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.
| Autori: | |
| Titolo: | Performance Indices for Evaluation and Comparison of Unmanned Marine Vehicles' Guidance Systems |
| Data di pubblicazione: | 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. |
| Lingua: | Inglese |
| Titolo del libro: | Proceedings of the 19th IFAC World Congress, Cape Town, South Africa |
| Editore: | International Federation of Automatic Control |
| Nome del convegno: | 19th World Congress of the International Federation of Automatic Control |
| Luogo del convegno: | Cape Town |
| Data inizio evento: | 2014-08-24 |
| Data fine evento: | 2014-08-29 |
| Tipo di contributo: | Paper |
| Citazione: | 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] |
| Appare nelle tipologie: | Paper, Selected paper, Contributed paper, Working paper, Poster, Poster paper, Comunicazione, Relazione (in volume) |
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