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Author Manerikar, N. ♦ Casalino, G. ♦ Simetti, E. ♦ Torelli, S. ♦ Sperinde, A.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2015
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Vehicles ♦ Joints ♦ Manipulators ♦ Cameras ♦ Jacobian matrices ♦ Velocity control
Abstract 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 by the agent, or without any exchange of information at all. To achieve this goal the control policy proposed in the paper only requires the exchange of six numbers at each time instant, while however exhibiting extremely good performances, inspite of the restraints on the information exchange.
Description Author affiliation: DIBRIS, Univ. of Genova, Opera, Italy (Manerikar, N.; Casalino, G.; Simetti, E.; Torelli, S.; Sperinde, A.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2015-05-26
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479969234
Size (in Bytes) 911.42 kB
Page Count 6
Starting Page 523
Ending Page 528


Source: IEEE Xplore Digital Library