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Ivan R. Bertaska
Researcher at Florida Atlantic University
Publications - 22
Citations - 517
Ivan R. Bertaska is an academic researcher from Florida Atlantic University. The author has contributed to research in topics: Control theory & Control system. The author has an hindex of 11, co-authored 22 publications receiving 394 citations. Previous affiliations of Ivan R. Bertaska include Marshall Space Flight Center.
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Journal ArticleDOI
Station-keeping control of an unmanned surface vehicle exposed to current and wind disturbances
TL;DR: An analysis of the length scales present in the power spectrum of the turbulent speed fluctuations in the wind suggests that a single anemometer is sufficient to characterize the speed and direction of the wind acting on the USV.
Journal ArticleDOI
Control of an Unmanned Surface Vehicle With Uncertain Displacement and Drag
TL;DR: In this paper, the performance of two low-level controllers when displacement and drag properties are time varying and uncertain is evaluated for an unmanned surface vehicle (USV) using open-loop maneuvering tests.
Proceedings ArticleDOI
Dynamics-aware target following for an autonomous surface vehicle operating under COLREGs in civilian traffic
Petr Svec,Brual C. Shah,Ivan R. Bertaska,Jose Alvarez,Armando J. Sinisterra,Karl D. von Ellenrieder,Manhar R. Dhanak,Satyandra K. Gupta +7 more
TL;DR: A model-predictive trajectory planning algorithm for following a target boat by an autonomous unmanned surface vehicle (USV) in an environment with static obstacle regions and civilian boats and capable of making a balanced trade-off among the following, possibly conflicting criteria.
Journal ArticleDOI
Resolution-adaptive risk-aware trajectory planning for surface vehicles operating in congested civilian traffic
Brual C. Shah,Petr źVec,Ivan R. Bertaska,Armando J. Sinisterra,Wilhelm B. Klinger,Karl D. von Ellenrieder,Manhar R. Dhanak,Satyandra K. Gupta +7 more
TL;DR: The results demonstrate that the basic version of the risk and contingency-aware planner (RCAP) significantly decreases the number of collisions compared to a baseline, velocity obstacles based planner, especially in complex scenarios with a high number of civilian vessels.
Journal ArticleDOI
Experimental evaluation of automatically-generated behaviors for USV operations
Ivan R. Bertaska,Brual C. Shah,Karl D. von Ellenrieder,Petr Svec,Wilhelm B. Klinger,Armando J. Sinisterra,Manhar R. Dhanak,Satyandra K. Gupta +7 more
TL;DR: In this paper, a model-referenced trajectory planner was implemented on unmanned surface vehicles (USVs) of different size, thrust, and maneuverability characteristics, which combines a local search based on the Velocity Obstacles (VO) concept with a global, lattice-based search for a dynamically feasible trajectory.