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This paper presents the control framework under development within the ROBUST Horizon 2020 project, whose goal is the development of an autonomous robotic system for the exploration of deep-sea mining sites. After a bathymetric survey of the initial zone of interest, the robotized system selects a subarea deemed to have the most chances of containing a manganese nodule field and proceeds with a detailed...
In this work, the control framework of the DexROV Horizon 2020 project is presented. The framework is based on the task priority concept, extended by the authors to allow the activation and deactivation of tasks. The general concepts of control objectives, task and actions are given. The execution of a pipeline's weld inspection is used as study case to test the proposed framework in a simulation...
The paper describes a novel cooperative control policy for the transportation of large objects in underwater environments using two UVMS (Underwater Vehicle Manipulator Systems). Due to the low bandwidth available in underwater scenarios, the main feature of the paper lies in the fact that the cooperative transportation of the commonly grasped object is carried out successfully by just exchanging...
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