Control of robots for underwater intervention and manipulation in real world applications is very challenging due high environmental uncertainties. Techniques based on Belief Space Planning (BSP) are very promising in order to achieve robust robot behaviors in the presence of uncertainties within complex and unstructured scenarios. Here a BSP strategy is developed to control an underwater robotic manipulator. Experiments proved the method effectiveness and reliability.
Belief space planning for an underwater floating manipulator
Zereik Enrica;Bibuli Marco;Sorbara Andrea;Bruzzone Gabriele;Caccia Massimo;
2015
Abstract
Control of robots for underwater intervention and manipulation in real world applications is very challenging due high environmental uncertainties. Techniques based on Belief Space Planning (BSP) are very promising in order to achieve robust robot behaviors in the presence of uncertainties within complex and unstructured scenarios. Here a BSP strategy is developed to control an underwater robotic manipulator. Experiments proved the method effectiveness and reliability.File in questo prodotto:
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