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The following addresses the control of an autonomous surface vehicle (ASV) to follow the trajectory made by an autonomous underwater vehicle (AUV) when the last is performing any given pre-programmed mission. In fact, it has been proved to be of great interest to have an ASV that could follow on the surface and even catch up the trajectory performed by the AUV, when executing a given mission. In order...
This paper considers diving control problems for underactuated autonomous underwater vehicles (AUVs) with only surge force and pitch moment available for its 3D vertical motion. By introducing certain two polar coordinates transformations, the vehicle's kinematics and dynamics can be reduced to a certain two-input-two-output (TITO) second-order nonlinear strict-feedback form, upon which the proposed...
In this paper, coordinated motion control of underwater vehicle-manipulator system (UVMS) is addressed. In order for UVMS to carry out manipulation tasks alone, motion planning with consideration of redundancy and tracking control under disturbances are required. We propose redundancy resolution with optimization of restoring moments as motion planning and inverse optimal nonlinear Hinfin control...
Building on the assumption that identification of a sufficient number of isoclines of an environmental field (such as the ocean bottom terrain) allows efficient reconstruction of the field, in this paper, a sequel to [1], we describe a system where a group of robots in a spacial arrangement (a regular polygon centred around a lead robot) locally construct the field (measured at the locations of the...
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