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In this paper we present a novel co-operative control policy purely for the transportation of large objects in underwater environments using two free floating vehicles, each one endowed with a 7 d.o.f redundant manipulator. Due to the presence of harsh conditions in underwater scenarios, it is extremely important to realize algorithms that depend on a minimal amount of explicit information exchanged...
The paper describes a novel cooperative control policy for the transportation of large objects in underwater environments using two UVMS (Underwater Vehicle Manipulator Systems). Due to the low bandwidth available in underwater scenarios, the main feature of the paper lies in the fact that the cooperative transportation of the commonly grasped object is carried out successfully by just exchanging...
This paper describes an unifying control framework which has been proposed and successfully employed within the recently concluded TRIDENT EU FP7 project. It further describes the extension of this proposed framework to dual arm free floating control case (single underwater vehicle with two 7 d.o.f redundant manipulators), and even the more challenging cooperative control of two I-AUVs for the transportation...
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