Details

Autor(en) / Beteiligte

• Casalino, G.
• Zereik, E.
• Simetti, E.
• Torelli, S.
• Sperinde, A.
• Turetta, A.

Titel

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

Ist Teil von

• 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, p.1772-1779

Ort / Verlag

IEEE

Erscheinungsjahr

2012

Quelle

IEEE/IET Electronic Library (IEL)

Beschreibungen/Notizen

• 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.