Force Balances for Monitoring Autonomous Rigid-Wing Sailboats

  • Matias WallerEmail author
  • Ulysse Dhomé
  • Jakob Kuttenkeuler
  • Andy Ruina
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1092)


Real-time monitoring and evaluation of practical trials with autonomous sailboats is often challenging: varying winds and waves influence a visual evaluation directly connected to a subjective verification of expected mechanical behavior while the inherent nature of sailing with different sensors operating in different coordinate frames complicates an objective data-based evaluation. In this paper, we illustrate the use of force balances as a tool for monitoring performance, for estimating and evaluating measurements and detecting unreliable sensors.


Autonomous sailboat Wingsail Model-based data evaluation Fault detection Force balance 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Matias Waller
    • 1
    Email author
  • Ulysse Dhomé
    • 2
  • Jakob Kuttenkeuler
    • 2
  • Andy Ruina
    • 3
  1. 1.Åland University of Applied SciencesMariehamnÅland Islands
  2. 2.KTH Royal Institute of TechnologyStockholmSweden
  3. 3.Cornell UniversityIthacaUSA

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