Arjuna P. Balasuriya

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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract—In the underwater environment, spatiotemporally dynamic(More)
— This work addresses mission planning for autonomous underwater gliders based on predictions of an uncertain , time-varying current field. Glider submersibles are highly sensitive to prevailing currents so mission planners must account for ocean tides and eddies. Previous work in variable-current path planning assumes that current predictions are perfect,(More)
— This paper is about the autonomous control of an autonomous underwater vehicle (AUV), and the particular considerations required to allow proper control while towing a 100-meter vector sensor array. Mission related objectives are tempered by the need to consider the effect of a sequence of maneuvers on the motion of the towed array which is thought not to(More)
This document describes the IvP Helm-an Open Source behavior-based autonomy application for unmanned vehicles. IvP is short for interval programming-a technique for representing and solving multi-objective optimizations problems. Behaviors in the IvP Helm are reconciled using multi-objective optimization when in competition with each other for influence of(More)
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—The number of road accident related fatalities and damages are reduced substantially by improving road infrastructure and enacting and imposing laws. Further reduction is possible through embedding intelligence onto the vehicles for safe decision making. Road boundary information plays a major role in developing such intelligent vehicles. A prominent(More)