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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Victor Nan Fernandez-Ayala

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2 papers indexed here

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Preprint Sep 2026

Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments&Docking

Autonomous underwater robots require robust perception, estimation and control to operate in confined environments. This paper presents an open-source BlueROV2 platform combining onboard vision with nonlinear Model Predictive Control (NMPC) for autonomous navigation and docking. The platform integrates an NVIDIA Jetson...

Victor Nan Fernandez-Ayala, Wiktor Kowalczyk, Cezary Banaszek et al. · 0 citations
Preprint Sep 2026

Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions

In this work, we propose a communication-free framework for vision-based formation control of fully actuated underwater robots subject to sensing constraints, collision-avoidance requirements, and input saturations. Recentered barrier Lyapunov functions encode sensing and collision-avoidance constraints, while command-...

Nicola de Carli, João Zenário, Victor Nan Fernandez-Ayala et al. · 1 citation · ⚡1

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