Overview
- Top class research in underwater robotics
- Underwater Robots represents the state of the art in dynamic robotic dynamic control of underwater vehicles, offering a mathematical model with significant impact on the control strategy
- The third edition is substantially improved and includes expanded theory and improved simulations
- Written by a leading expert in the field
- Includes a rewritten simulator which will be available for download
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 96)
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Table of contents (10 chapters)
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Front Matter
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Back Matter
Keywords
About this book
This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.
Reviews
From the reviews of the third edition:
“This book focuses on underwater manipulation, a new research topic that shares many problems with mobile manipulation … . The book covers decades of research results and reports them in a logically organized manner, making it ready for use and experimentation. It would be a valuable graduate-level textbook to cover the control of AUVs, a topic usually absent in teaching books on robotics. However, its target is a more advanced reader … .” (G. Gini, Computing Reviews, April, 2014)
Authors and Affiliations
Bibliographic Information
Book Title: Underwater Robots
Authors: Gianluca Antonelli
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-319-02877-4
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2014
Softcover ISBN: 978-3-319-37432-1Published: 27 August 2016
eBook ISBN: 978-3-319-02877-4Published: 22 November 2013
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 3
Number of Pages: XXVII, 279
Number of Illustrations: 89 b/w illustrations, 62 illustrations in colour