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Autonomous River Navigation Using the Hamilton--Jacobi Framework for Underactuated Vehicles

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4 Author(s)
Weekly, K. ; K. Weekly, A. Tinka, and A. M. Bayen are with the Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA 94720 USA (e-mail:;; ; Tinka, A. ; Anderson, L. ; Bayen, A.M.

The feasibility of drifter studies in complex and tidally forced water networks has been greatly expanded by the introduction of motorized floating sensors. This paper presents a method for such motorized sensors to accomplish obstacle avoidance and path selection using the solutions to Hamilton--Jacobi--Bellman--Isaacs (HJBI) equations. The method is then validated experimentally.

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Robotics, IEEE Transactions on  (Volume:PP ,  Issue: 99 )

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