2016
Kinematic control of an Autonomous Underwater Vehicle-Manipulator System (AUVMS) using autoregressive prediction of vehicle motion and Model Predictive Control
ICRA 2016
Autonomous Underwater Vehicle-Manipulator Systems (AUVMS) operating in shallow waters or near-surface environments may be exposed to wave disturbances which will cause undesired motion of the end effector. This paper presents a method to maneuver the manipulator joints and counteract undesired motio