# Dynamic Autonomous Surface Vehicle Control and Applications in Environmental Monitoring

arXiv: https://arxiv.org/abs/2103.15951 · HTML: https://mlsanity.com/paper/2103.15951/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 7 of its 19 references that are in the map.
- First posted on arXiv 29 Mar 2021.

## Builds on (most cited first, 7 of 7)

- [Efficient Multi-Robot Coverage of a Known Environment](https://mlsanity.com/paper/1808.02541/) (2018)
- [Multi-robot Dubins Coverage with Autonomous Surface Vehicles](https://mlsanity.com/paper/1808.02552/) (2018)
- [Riverine Coverage with an Autonomous Surface Vehicle over Known Environments](https://mlsanity.com/paper/1908.02827/) (2019)
- [Meander Based River Coverage by an Autonomous Surface Vehicle](https://mlsanity.com/paper/1908.02813/) (2019)
- [An Autonomous Surface Vehicle for Long Term Operations](https://mlsanity.com/paper/1808.08939/) (2018)
- [External Force Field Modeling for Autonomous Surface Vehicles](https://mlsanity.com/paper/1809.02958/) (2018)
- [Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces](https://mlsanity.com/paper/1908.02850/) (2019)

## Abstract (arXiv)

This paper addresses the problem of robotic operations in the presence of adversarial forces. We presents a complete framework for survey operations: waypoint generation,modelling of forces and tuning the control. In many applications of environmental monitoring, search and exploration, and bathymetric mapping, the vehicle has to traverse in straight lines parallel to each other, ensuring there are no gaps and no redundant coverage. During operations with an Autonomous Surface Vehicle (ASV) however, the presence of wind and/or currents produces external forces acting on the vehicle which quite often divert it from its intended path. Similar issues have been encountered during aerial or underwater operations. By measuring these phenomena, wind and current, and modelling their impact on the vessel, actions can be taken to alleviate their effect and ensure the correct trajectory is followed.