A topological map based approach to long range operation of an unmanned surface vehicle
A.S. Gadre, Shu Du, Daniel J. Stilwell · 2012
We present an approach to planning dynamically feasible vehicle trajectories for applications where the vehicle operates in very large environments and for which a kinematic model is a poor approximation of the vehicle's dynamics. Our approach is based on new methods for generating topological maps of a sparse and natural environment, such as a tropical riverine system.