This paper proposes an algorithm that drives a unicycle type robot to a desired path, including obstacle avoidance capabilities. The path-following control design relies on Lyapunov theory, backstepping techniques and deals explicitly with vehicle dynamics. Furthermore, it overcomes the initial condition constraints present in a number of path-following control strategies described in the liter...

We study underwater landslide shape, motion and deformation at early times. We present experimental and numerical results in a search for general behaviors of tsunamigenic underwater landslides. Our experimental work presents a granular mass moving and deforming down a steep incline. Our numerical work uses a Bingham-like fluid model (BING) to simulate more realistic underwater landslide models...

In Underwater Wireless Sensor Networks (UWSNs), the geographic routing is a preferred choice for data transmission due to the unique characteristics of underwater environment such as the three dimensional topology, the limited bandwidth and power resources. This paper focuses on underwater routing protocols in the network layer, where underwater sensor nodes can collaborate with each other to t...

Biomimetic Autonomous Underwater Vehicles (BAUVs) are Autonomous Underwater Vehicles (AUVs) that employ similar propulsion and steering principles as real fish. While the real life applicability of these vehicles has yet to be fully investigated, laboratory investigations have demonstrated that at low speeds, the propulsive mechanism of these vehicles is more efficient when compared with propel...