Jun-Zhuo Wu

Automated Sailboat Navigation using Controllabilty-Aware Nonlinear Model Predicitive Control under Stochastic Winds

This paper presents a systematic approach to plan and execute a time-efficient sailboat trajectory under the challenging stochastic wind conditions for automated sailboat. Unlike deterministic scenarios, stochastic wind disturbances introduce challenges such as gust unpredictability, directional shifts, and fluctuating...