<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">\documentclass[onecolumn,letterpaper,11pt]{article}

%===================================================================
\usepackage{bibentry} 
\usepackage[usenames]{color}

\input{common_latex/common_latex_packages}
\input{common_latex/common_latex_definitions}
\input{common_latex/common_latex_lab_format}
\nobibliography*               % tell latex no references at the end
%===================================================================

\begin{document}

\wikidoc{file=Proj.LINC}
\wikidoc{auth=tpaine@mit.edu}

%====================================================================
\section*{Learning Introspective Control (LINC)}
%====================================================================

This project aims to develop and demonstrate state-of-the-art
approaches to control for underactuated marine vehicles which have
experienced failures that result in significant changes to system
dynamics.  This project is a team effort led by the prime contractor,
Aurora Flight Sciences (Boeing), and the Aerospace Controls and
Active-Adaptive Control labs at MIT.  We investigate the limits of
classic control to handle significant disturbances in our Heron marine
surface vehicles, and investigate the use of adaptive and
learning-based controllers to provide better performance in such
demanding situations.

\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.95\textwidth]{figures/linc.png}
\label{fig_linc}
\end{figure}

\vspace{0.1in}
\noindent
In the second year of this project, the focus has shifted to
investigating methods to assist human operators of marine vehicles
with two challenging scenarios: Safely landing the vessel on a dock,
and safely maintaining close position to another vessel for the
purposes of transferring cargo.  The primary test platform in the
second year is our OPT-WAMV, a bigger vessel than the Clearpath Heron
making it more capable in the open water.


\vspace{0.1in}
\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.85\textwidth]{figures/wamv.png}
\label{fig_wamv}
\caption{Picture of OPT-WAMV used as the test platform in the second
  year of the DARPA LINC project.}
\end{figure}

\vspace{0.1in}
\noindent
In these tests the human driver of the vehicle provides a reference
trajectory when close to the dock or other vessel, and the goal of the
adaptive controller is to drive the vessel along that specified
trajectory.  The same adaptive control method that was tested on the
smaller Herons is used.  Collisions are avoided through the use of
control filtering based on a constraint barrier function analysis.
Virtual barriers are placed near the dock and other vessels, and if
the operator's control input would result in the vehicle penetrating
the barrier, the trajectory is adjusted to prevent unsafe situations.
A simple diagram of this approach is shown below:

\vspace{0.1in}

\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.88\textwidth]{figures/linc2.png}
\label{fig_linc2}
\end{figure}


%====================================================================
%\section*{Quick Facts}
%====================================================================

\vspace{0.15in}
\footnotesize
\renewcommand{\arraystretch}{1.15}
\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Status}: &amp; Ongoing since February 2023 \\ \hline
  \var{Sponsor(s)}: &amp; DARPA I20, Dr. John-Francis Mergen. Aurora Flight Sciences. \\ \hline
  \var{People}: &amp; Tyler Paine, Mike DeFilippo, Mike Benjamin (PI) \\ \hline
  \var{Robots}: &amp;  \urlx{https://oceanai.mit.edu/pavlab/wamv} \\ \hline
  \var{Software:} &amp; MOOS-IvP public codebase, MOOS-IvP-Pavlab codebase \\ \hline
%  \var{Photos:} &amp; \urlx{https://oceanai.mit.edu/media/WestPoint2022/album} \\ \hline
\end{longtable}
\normalsize


%====================================================================
\section*{Recent Publications}

\input{citations.tex}
\wikinoref

\newpage
\bibliography{biblio.bib}
\bibliographystyle{plain}

\end{document}





</pre></body></html>