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Agility for underwater floating manipulation: Task & subsystem priority based control strategy

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6 Author(s)
Casalino, G. ; DIST, Univ. of Genova, Opera, Italy ; Zereik, E. ; Simetti, E. ; Torelli, S.
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The need for actual autonomy in underwater robotic systems is rapidly increasing. Many challenging issues derive from such a trend, one in all the requirement of coordinately controlling the motion of an underwater floating I-AUV endowing a robotic arm, to accomplish complex manipulation tasks. This work is aimed to present a strategy based on the prioritization of tasks of equality and inequality type, once combined with Dynamic Programming techniques, for coordinately controlling the motion of such I-AUV. A general algorithmic framework is developed and simulative results supporting its resulting effectiveness are presented.

Published in:

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Date of Conference:

7-12 Oct. 2012

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