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

  title={LORCA: A high performance USV with applications to surveillance and monitoring},
  author={Joachim L. Grenestedt and Jack Keller and Scott Larson and Jake Patterson and John R. Spletzer and Tyler Trephan},
  journal={2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
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…

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  • P. EncarnaçãoA. Pascoal
  • Engineering
    Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)
  • 2001
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