Trajectory Planning for the Shapeshifting of Autonomous Surface Vessels

Banti Gheneti; Shinkyu Park; Ryan Kelly; Drew Meyers; Pietro Leoni; Carlo Ratti; Daniela Rus

doi:10.1109/MRS.2019.8901099

Trajectory Planning for the Shapeshifting of Autonomous Surface Vessels

Banti Gheneti, Shinkyu Park, Ryan Kelly, Drew Meyers, Pietro Leoni, Carlo Ratti, Daniela Rus

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

We present a trajectory planning algorithm for the shapeshifting of reconfigurable modular surface vessels. Each vessel is designed to latch with and unlatch from other vessels, which we aim to use to create dynamic infrastructure, such as on-demand bridges and temporary market squares, in canal environments. Our algorithm generates smooth and collision-free trajectories that the vessels can track to reconfigure their connections. We formulate the trajectory planning problem as Mixed Integer Quadratic Programming (MIQP) with a B-spline representation. We conceive a physical platform of the reconfigurable modular vessels and, through swimming pool experiments, show the efficacy of our trajectory planning algorithm for the shapeshifting of the vessels.

Original language	English (US)
Title of host publication	International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	76-82
Number of pages	7
ISBN (Print)	9781728128764
DOIs	https://doi.org/10.1109/MRS.2019.8901099
State	Published - Aug 1 2019
Externally published	Yes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2022-09-13

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10.1109/MRS.2019.8901099

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title = "Trajectory Planning for the Shapeshifting of Autonomous Surface Vessels",

abstract = "We present a trajectory planning algorithm for the shapeshifting of reconfigurable modular surface vessels. Each vessel is designed to latch with and unlatch from other vessels, which we aim to use to create dynamic infrastructure, such as on-demand bridges and temporary market squares, in canal environments. Our algorithm generates smooth and collision-free trajectories that the vessels can track to reconfigure their connections. We formulate the trajectory planning problem as Mixed Integer Quadratic Programming (MIQP) with a B-spline representation. We conceive a physical platform of the reconfigurable modular vessels and, through swimming pool experiments, show the efficacy of our trajectory planning algorithm for the shapeshifting of the vessels.",

author = "Banti Gheneti and Shinkyu Park and Ryan Kelly and Drew Meyers and Pietro Leoni and Carlo Ratti and Daniela Rus",

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doi = "10.1109/MRS.2019.8901099",

language = "English (US)",

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T1 - Trajectory Planning for the Shapeshifting of Autonomous Surface Vessels

AU - Gheneti, Banti

AU - Park, Shinkyu

AU - Kelly, Ryan

AU - Meyers, Drew

AU - Leoni, Pietro

AU - Ratti, Carlo

AU - Rus, Daniela

N1 - Generated from Scopus record by KAUST IRTS on 2022-09-13

PY - 2019/8/1

Y1 - 2019/8/1

N2 - We present a trajectory planning algorithm for the shapeshifting of reconfigurable modular surface vessels. Each vessel is designed to latch with and unlatch from other vessels, which we aim to use to create dynamic infrastructure, such as on-demand bridges and temporary market squares, in canal environments. Our algorithm generates smooth and collision-free trajectories that the vessels can track to reconfigure their connections. We formulate the trajectory planning problem as Mixed Integer Quadratic Programming (MIQP) with a B-spline representation. We conceive a physical platform of the reconfigurable modular vessels and, through swimming pool experiments, show the efficacy of our trajectory planning algorithm for the shapeshifting of the vessels.

AB - We present a trajectory planning algorithm for the shapeshifting of reconfigurable modular surface vessels. Each vessel is designed to latch with and unlatch from other vessels, which we aim to use to create dynamic infrastructure, such as on-demand bridges and temporary market squares, in canal environments. Our algorithm generates smooth and collision-free trajectories that the vessels can track to reconfigure their connections. We formulate the trajectory planning problem as Mixed Integer Quadratic Programming (MIQP) with a B-spline representation. We conceive a physical platform of the reconfigurable modular vessels and, through swimming pool experiments, show the efficacy of our trajectory planning algorithm for the shapeshifting of the vessels.

UR - https://ieeexplore.ieee.org/document/8901099/

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U2 - 10.1109/MRS.2019.8901099

DO - 10.1109/MRS.2019.8901099

M3 - Conference contribution

SN - 9781728128764

SP - 76

EP - 82

BT - International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Trajectory Planning for the Shapeshifting of Autonomous Surface Vessels

Abstract

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