Mathieu Richier — accepted AI-conference papers

2022

Hydrodynamic Parameters Estimation Using Varying Forces and Numerical Integration Fitting Method

Nicolas Gartner, Mathieu Richier, Claire Dune, Vincent Hugel

RA-L 2022

This paper presents a new experimental method for the estimation of hydrodynamic parameters of underwater vehicles, namely the added mass and drag coefficients. The principle is to accurately record the movement of the vehicle in response to a known time-varying actuating force, and find an optimal

Cited by 9 Source ↗Scholar ↗

2018

Hydrodynamics Parameter Identification of Submerged Bodies: Numerical Methods Comparison and Friction Model Analysis

Nicolas Gartner, Mathieu Richier, Vincent Hugel

IROS 2018poster

This paper focuses on numerical methods that can be used to identify hydrodynamic parameters of submerged bodies, namely added mass, linear and quadratic friction coefficients. The mechanical setup is a free decay pendulum that is equipped with an encoder. The first contribution of this paper deals…

Cited by 9 Source ↗Scholar ↗