Cooperation between autonomous underwater vehicle manipulations systems with minimal information exchange

Autor:	Enrico Simetti, Ninad Manerikar, Francesco Wanderlingh, Sandro Torelli, Giuseppe Casalino, Alessandro Sperinde
Rok vydání:	2015
Předmět:	Engineering Underwater vehicle business.industry Bandwidth (signal processing) Marine Robotics Control engineering Kinematics Underwater Sampling instant business Information exchange
Zdroj:	OCEANS 2015 - Genova.
DOI:	10.1109/oceans-genova.2015.7271700
Popis:	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 the tool frame velocities at each sampling instant. A disturbance compensation technique is also presented to cope with sea currents and vehicle velocity tracking errors.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::84c9db15a9425660893ccd8053535aba https://doi.org/10.1109/oceans-genova.2015.7271700 Zobrazit plný text záznamu