An overview of control problem in underwater robotics is presented. Underwater robots can be used to accomplish missions such as sea bottom and pipeline survey, cable maintenance, and off-shore structures' monitoring and maintenance. The actuating system is usually composed of thrusters and control surfaces, both of them have a non-linear dynamics and are strongly affected by the hydrodynamic effects. It is suggested that the sensory system of the vehicle must deal with a noisy and unstructured environment.


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    Title :

    Open control problems in underwater robotics


    Additional title:

    Offene Regelungsprobleme bei Unterwasserrobotern


    Contributors:


    Publication date :

    2004


    Size :

    11 Seiten, 73 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English