Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M. Experiments in Low Cost High Precision Motion Control for ROVs. In: ICRA 2005 - IEEE International Conference on Robotics and Automation (Barcelona, Spain, 18-22 April 2005). Proceedings, pp. 4667 - 4672. IEEE, 2005.
The problem of low-cost high precision motion control of remotely operated vehicles (ROVs) in the proximity of the seabed through vision-based motion estimation is addressed in this paper. The proposed approach consists in the integration of a monocular vision system for the estimate of the vehicle's linear motion with a dual-loop hierarchical architecture for kinematics and dynamics control. Results obtained by operating at sea the Romeo ROV are presented.
Subject underwater vision
guidance and control
mobile robots
motion estimation

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