{"repo":"duccuongvu/AUV-ODIN-mujoco","free":true,"listed":false,"github":"https://github.com/duccuongvu/AUV-ODIN-mujoco","clone":"git clone https://github.com/duccuongvu/AUV-ODIN-mujoco.git","description":"This repository is the code for the paper \"Glocal trajectory generation and tracking control for autonomous underwater vehicles with optimal coverage sensor networks\"","language":"Jupyter Notebook","stars":18,"topics":["automation","auv-simulator","casadi","control","control-barrier-function","dynamical-system","model-predictive-control","motion-planning","ocean","optimization-based-control"],"license":"MIT","category":"workflow-automation","readme_excerpt":"AUV-ODIN-mujoco Paper: Glocal trajectory generation and tracking control for autonomous underwater vehicles with optimal coverage sensor networks This project provides a unified framework for glocal trajectory planning and real-time tracking control of a fleet of Autonomous Underwater Vehicles (AUVs) equipped with distributed sensors. The aim is to maximize area coverage while ensuring safe, robust, and connected operations in dynamic marine environments. 2D map 3D map Obstacle attack Key features - Global Planning using the GT-MC heuristic for optimized AUV distribution - Local Trajectory Generation using Model Predictive Control (MPC) with Control Barrier Functions (CBF) for safety - Robust Tracking with Sliding Mode Control (SMC) and thruster allocation optimization - Physics-based Simulation via MuJoCo Project Structure . ├── data │ ├── ex generate waypoints │ └── global data ├── mujoco model ├── notebook │ ├── 2D local path finding │ ├── 3D local path finding │ ├── AUV model │ ├── AUV mujoco │ └── setup path.py └── src ├── control ├── dynamics ├── guidance ├── mathematical --- Installation 1. Clone the repository 2. Create and activate a virtual environment (optional but recommended): 3. Install the required dependencies: 4. Ensure all required dependencies are installed. If any are missing, install them manually: 5. Run example scripts or notebooks to ensure everything is set up correctly: Cite","default_branch":null,"files":null,"tree":[],"storefront":"/r/duccuongvu","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/duccuongvu/AUV-ODIN-mujoco/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}