Roboat II: A Novel Autonomous Surface Vessel for Urban Environments
IROS, pp. 1740-1747, 2020.
This paper presents a novel autonomous surface vessel (ASV), called Roboat II for urban transportation. Roboat II is capable of accurate simultaneous localization and mapping (SLAM), receding horizon tracking control and estimation, and path planning. Roboat II is designed to maximize the internal space for transport and can carry paylo...More
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