A geometric approach to trajectory design for an autonomous underwater vehicle: surveying the bulbous bow of a ship
From MaRDI portal
Publication:634699
DOI10.1007/s10440-011-9616-8zbMath1228.93035MaRDI QIDQ634699
Luca Invernizzi, Song K. Choi, Dario Cazzaro, Ryan N. Smith, Giacomo Marani, Monique Chyba
Publication date: 16 August 2011
Published in: Acta Applicandae Mathematicae (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s10440-011-9616-8
93C95: Application models in control theory
93B51: Design techniques (robust design, computer-aided design, etc.)
93B27: Geometric methods
70Q05: Control of mechanical systems
70E60: Robot dynamics and control of rigid bodies
Cites Work
- Trajectory design for mechanical control systems: from geometry to algorithms
- Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
- A geometrical approach to the motion planning problem for a submerged rigid body
- Motion control of drift-free, left-invariant systems on Lie groups
- Cascaded adaptive control of ocean vehicles with significant actuator dynamics
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