Publications
You can also find my articles on my Google Scholar profile.
Published Works
- Adaptive reference management and model predictive control for near-surface depth–heading control of autonomous underwater vehicles
V. Petrov, G. MacLin, V. Cichella
Ocean Engineering, 368 (2026), 128400
Paper DOI · View on ScienceDirect · Project and video - Autopilot System for Depth and Pitch Control in Underwater Vehicles: Navigating Near-Surface Waves and Disturbances
V. Petrov, G. MacLin, V. Cichella
IFAC Conference
View on ScienceDirect - Underwater Vehicle Autopilot System for Controlling Depth and Pitch: Maneuvering Through Near-Surface Waves and Environmental Disturbances
V. Petrov, G. MacLin, V. Cichella
Ocean Engineering Journal
View on ScienceDirect
Current Manuscripts and Research Projects
- Planning Multi-Agent Inspection Tours with Energy Constraints and Separation Requirements
Manuscript based on MERL internship research. My contribution focused on ROS2/CrazySwarm2 experimental integration, SLAM-based mapping, waypoint-following implementation, RViz2 visualization, and real-drone validation for multi-agent Crazyflie inspection experiments. - L1-Augmented Bernstein Polynomial Model Predictive Planning for Crazyflie UAVs
Manuscript in preparation on real-time trajectory planning and adaptive disturbance rejection for Crazyflie UAVs, with experimental validation under payload and airflow disturbances. - Learning-Based Dynamics Modeling and Control for Autonomous Robotic Systems
Ongoing research direction involving RBF neural networks, sequence models, and reinforcement-learning concepts for dynamics learning, trajectory generation, and data-driven robotic control.