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Wilhelm B. Klinger
Researcher at Florida Atlantic University
Publications - 7
Citations - 256
Wilhelm B. Klinger is an academic researcher from Florida Atlantic University. The author has contributed to research in topics: Control theory & Adaptive algorithm. The author has an hindex of 6, co-authored 7 publications receiving 184 citations.
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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.
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.
Proceedings ArticleDOI
Trajectory planning with adaptive control primitives for autonomous surface vehicles operating in congested civilian traffic
Brual C. Shah,Petr Svec,Ivan R. Bertaska,Wilhelm B. Klinger,Armando J. Sinisterra,Karl D. von Ellenrieder,Manhar R. Dhanak,Satyandra K. Gupta +7 more
TL;DR: A model-predictive trajectory planning algorithm for unmanned surface vehicles (USVs) operating in congested civilian traffic and a new method for efficiently searching 5D state space for a dynamically feasible trajectory using adaptive control action primitives are described.
Controller design challenges for waterjet propelled unmanned surface vehicles with uncertain drag and mass properties
TL;DR: In this paper, a wave-adaptive modular class of unmanned surface vehicles (USVs) is presented in the context of supporting the autonomous launch and recovery (ALR) of an AUV aboard an USV.