Markus H. Iversflaten

Experimental Comparison of Kinematic Task-Priority Control Methods for an Articulated Intervention-AUV

This work revisits two classical closed-loop inverse kinematics (CLIK) formulations for hierarchical control and investigates their differences in the context of articulated intervention-autonomous underwater vehicles (AIAUVs). The class of AIAUVs consists of free-floating, slender, multi-link vehic…