LORCA: A high performance USV with applications to surveillance and monitoring

@article{Grenestedt2015LORCAAH,
  title={LORCA: A high performance USV with applications to surveillance and monitoring},
  author={J. Grenestedt and J. Keller and S. Larson and Jake Patterson and J. Spletzer and Tyler Trephan},
  journal={2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
  year={2015},
  pages={1-6}
}
In this paper, we introduce the Lehigh Ocean Research Craft Autonomous (LORCA) - a high performance USV with applications to surveillance and monitoring tasks. [...] Key Method We first review the LORCA design and technical specifications. We then discuss our initial work in trajectory following where an EKF-based approach is employed for localization and a sample based planner for control. Using only the sensing and computational resources available on a 3DR Pixhawk, we demonstrate effective trajectory…Expand
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