Abstract
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.
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Waller, M., Dhomé, U., Kuttenkeuler, J., Ruina, A. (2020). Force Balances for Monitoring Autonomous Rigid-Wing Sailboats. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1092. Springer, Cham. https://doi.org/10.1007/978-3-030-35990-4_23
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DOI: https://doi.org/10.1007/978-3-030-35990-4_23
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