4 accepted papers
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC) approach for a team of UVMSs in order to transport an object…
This paper presents the design of a vision-based object grasping and motion control architecture for a mobile manipulator system. The optimal grasping areas of the object are estimated using the partial point cloud acquired from an onboard RGB-D sensor system. The reach-to-grasp motion of the mobile…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards specific way points. Various limitations such as: obstacles, wor…
It is well known that a real-time visual servoing task which employs a Visual Tracking Algorithm (VTA) imposes high computational cost to robotic system, which consequently results in higher energy consumption and lower autonomy. Motivated by this fact, this paper presents a novel Image Based Visual…