Toshiyuki OSHIMA (Hatanaka lab. ) won IEEE CCTA Best Student Paper Award.

Toshiyuki OSHIMA (Hatanaka Lab. M2) won the Best Student Paper Award at 8th IEEE Conference on Control Technology and Applications (CCTA) 2024 held in Newcastle, UK.

This work was conducted using Smart Robotics R&E Field Robot Zoo Aqua in Academy for Super Smart Society.

Certificate

Toshiyuki OSHIMA (fifth from the right) was selected as a winner from four finalists.

Award-winning Paper

Title：

"Online Coverage Path Generation for Aquatic Environmental Monitoring with Multiple USVs through Constraint-based Control"

Authors：

T. Oshima, Y. Toyomoto, and T. Hatanaka

Abstract：

In this paper, we address aquatic environmental monitoring with multiple Unmanned Surface Vehicles (USVs). In order to deal with the unignorable dynamic properties of the USVs and disturbances from the environment, we present a hierarchical control architecture such that the high-level control generates ideal paths in the sense of the monitoring performance and the low-level control is responsible for following the path while rejecting the disturbances. We then formulate a novel online path generation problem based on the formulation of so-called persistent coverage control. After transforming the cost minimization to a constraint-based specification, we design an online path generation mechanism based on the concept of the constraint-based control. The present system is demonstrated through simulation with both an idealized mathematical model and an identified USV model.

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• 8^th IEEE Conference on Control Technology and Applications（IEEE CCTA2024）
• Hatanaka Laboratory
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