Title :
Computational architectures for the control of underwater robots
Author :
Baiardi, P. ; Bianchetti, P. ; Bruzzone, G. ; Cannata, G. ; Casalino, G. ; Veruggio, G.
Author_Institution :
DIST, Genoa Univ., Genova, Italy
Abstract :
The objective of this paper is to present the current activities, jointly carried out by DIST and LAN, in the development of a computational architecture for the control of advanced robot systems. In particular, the activity is focused on marine and underwater applications. The problem of the control of advanced robot systems is discussed. A Lyapunov based approach to the synthesis of the control laws in task space domain is presented. Moreover, experimental setups implementing the proposed control scheme are briefly described
Keywords :
Lyapunov methods; control system synthesis; marine systems; mobile robots; navigation; Lyapunov method; computational architectures; control methodology; control synthesis; design methodology; navigation; task space; underwater robot control; Automatic control; Communication system control; Computer architecture; Control systems; Humans; Machine vision; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation;
Conference_Titel :
OCEANS '94. 'Oceans Engineering for Today's Technology and Tomorrow's Preservation.' Proceedings
Conference_Location :
Brest
Print_ISBN :
0-7803-2056-5
DOI :
10.1109/OCEANS.1994.364022
