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Situational Awareness and Obstacle Avoidance for a Wind Propelled Marine Research ASV


Anna Friebe, Giammarco René Casanova , Maël Le Gallic , Clement Rolinat , Matias Waller

Publication Type:

Conference/Workshop Paper


In this paper, the situational awareness and obstacle avoidance system of the wind propelled marine research ASV ASPire is described. Detailed descriptions are provided regarding: (1) The higher level route replanning system utilizing interval analysis. (2) The image processing algorithms used on the Thermal Image Camera output for obstacle detection. (3) The adaptations of the voter based control system for using the results from 2.


author = {Anna Friebe and Giammarco Ren{\'e} Casanova and Ma{\"e}l Le Gallic and Clement Rolinat and Matias Waller},
title = {Situational Awareness and Obstacle Avoidance for a Wind Propelled Marine Research ASV},
month = {May},
year = {2018},
url = {}