SIMETTI , E.

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This paper presents a unifying task priority control architecture for underwater vehicle manipulator systems. The proposed control framework can be applied to different operative scenarios such as waypoint navigation, assisted teleoperation, interaction, landing and grasping. This work extends the results of the TRIDENT and MARIS projects,...

Abstract—The paper presents the first simulative results and algorithmic developments of the task-priority based control applied to a distributed sampling network in an area coverage or adaptive sampling mission scenario. The proposed approach allowing the fulfilment of a chain of tasks with decreasing priority each of which directly related to...

Abstract: In this work, the control framework of the DexROV Horizon 2020 project is presented. The framework is based on the task priority concept, extended by the authors to allow the activation and deactivation of tasks. The general concepts of control objectives, task and actions are given. The execution of a pipeline's weld inspection is...

This paper presents the control framework under development within the ROBUST Horizon 2020 project, whose goal is the development of an autonomous robotic system for the exploration of deep-sea mining sites. After a bathymetric survey of the initial zone of interest, the robotized system selects a subarea deemed to have the most chances of...