2004 (v1)
Publication
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2004 (v1)Publication
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2004 (v1)Publication
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2017 (v1)Publication
Autonomous underwater manipulation has been a topic of interest since the early 1990s. In the past few years, several milestone projects such as SAUVIM and TRIDENT have demonstrated autonomy capabilities for a single underwater vehicle manipulator system (UVMS) in performing simple manipulation tasks, e.g., the recovery of an object from the...
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1991 (v1)Publication
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2005 (v1)Publication
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2004 (v1)Publication
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2005 (v1)Publication
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2005 (v1)Publication
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2004 (v1)Publication
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2016 (v1)Publication
The task priority based control is a formalism which allows to create complex control laws with nice invariance properties, i.e. lower priority tasks do not affect the execution of higher priority ones. However, the classical task priority framework (Siciliano and Slotine) lacked the ability of enabling and disabling tasks without causing...
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2015 (v1)Publication
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2003 (v1)Publication
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2016 (v1)Publication
This paper describes the structure of an innovative robotic platform that integrates a small work-class ROV, a micro-ROV and a dexterous manipulator. The main feature of the robotic structure is to facilitate underwater tele-manipulation by assisting the operator in piloting the manipulator end-effector and by implementing monitoring procedures...
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1996 (v1)Publication
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2000 (v1)Publication
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1994 (v1)Publication
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2016 (v1)Publication
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2003 (v1)Publication
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1992 (v1)Publication
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2016 (v1)Publication
The paper illustrates the basic ideas and relevant algorithmic developments underlying the proposal for a task-priority based control approach to distributed data-driven ocean sampling applications. This approach is deemed allowing a better formalization of the overall motion problem of the involved team of agents; that apart the ultimate...
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2009 (v1)PublicationReal Time Path Planning and Obstacle Avoidance for Security Related USVs Operating in Harbour Fields
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1987 (v1)Publication
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