Browsing NTNU Open by Author "Nysæther, Torje"
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Hierarchical Compliance-Control-Based Docking of a UVMS
Nysæther, Torje; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article, 2023)The viability of underwater vehicle-manipulator systems (UVMS) in underwater intervention missions is heavily reliant on safety. For safe operations, a UVMS should specifically be able to both avoid dangers and interact ...