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Toward a generalized architecture for unmanned underwater vehicles
2011 IEEE International Conference on Robotics and Automation, 2011 A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In this paper, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle,
Changlong Lin +3 more
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Simulation and control of an unmanned underwater vehicle
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002This paper presents activities in the field of underwater robotics carried out at the Naval Automation Institute of the Italian National Research Council. The ultimate goal is the development of an autonomous underwater vehicle for research purposes. A bottom-up approach has been adopted and efforts are focused on the automation of undersea tasks.
Riccardo Bono +2 more
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VITA1: An Unmanned Underwater Vehicle Prototype for Operation in Underwater Tunnels
2021 IEEE International Systems Conference (SysCon), 2021New technologies have pushed Unmanned Underwater Vehicles use in the industry where the focus is often oil and gas applications and, high end systems. Operation in broad underwater tunnels where water turbidity is high, make it difficult to orient Observation Class UUVs inside them.
Vitor A. M. Jorge +6 more
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Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory
Control Engineering Practice, 2015 This paper presents a motion control system for guidance of an underactuated Unmanned Underwater Vehicle (UUV) on a helical trajectory. The control strategy is developed using Port-Hamiltonian theory and interconnection and damping assignment passivity ...
Francis Valentinis +2 more
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Underwater floor pattern matching with an unmanned underwater vehicle
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2015The localization of unmanned underwater vehicle (UUV) is important for the UUV to inspect or manipulator objects. We assume that there is an UUV with a camera sensor and the UUV uses the underwater floor pattern for localization. Because the pattern is known beforehand, the pattern matching between the pattern image and the camera image lets the UUV ...
Jung-Tae Kim +5 more
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A simulation environment for unmanned underwater vehicles development
MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295), 2002Logistics problems and high costs necessary to carry out experiments with robots in hazardous environments such as the open sea led to the development of simulation environments (SE) where the physical robot and the operating environment can be substituted by real-time simulators in a way that is completely transparent to the robot's control and ...
M Caccia, R Bono, G Bruzzone, G Veruggio
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Energy-based motion control of a slender hull unmanned underwater vehicle
Ocean Engineering, 2015 This paper presents a motion control system for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle. The feedback control strategy is developed using the Port-Hamiltonian theory.
Francis Valentinis +2 more
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Guidance of unmanned underwater vehicles: experimental results
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002This paper addresses the problem of guidance of unmanned underwater vehicles (UUVs). In the framework of a two layered hierarchical architecture decoupling the system dynamics and kinematics, two guidance laws for approaching a target with the desired orientation and following an environmental feature have been designed with Lyapunov-based techniques ...
Massimo Caccia +2 more
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Sonar-based guidance of unmanned underwater vehicles
Advanced Robotics, 2001This paper addresses the problem of the design and coordination of guidance and sonar-based motion estimation algorithms for unmanned underwater vehicles. In the framework of a two layered hierarchical architecture uncoupling the system's dynamics and kinematics, a couple of guidance laws for approaching a target with the desired orientation and ...
Caccia M, Bruzzone G, Veruggio G
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