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dc.contributor.authorNielsen, Mikkel Cornelius
dc.contributor.authorEidsvik, Ole Alexander
dc.contributor.authorBlanke, Mogens
dc.contributor.authorSchjølberg, Ingrid
dc.date.accessioned2017-12-05T12:28:37Z
dc.date.available2017-12-05T12:28:37Z
dc.date.created2016-12-18T12:08:35Z
dc.date.issued2016
dc.identifier.isbn978-1-5090-1537-5
dc.identifier.urihttp://hdl.handle.net/11250/2469292
dc.description.abstractThis paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules. The purpose of the model is to enable design of control strategies for cooperative reconfigurable underwater systems.nb_NO
dc.language.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.relation.ispartofOCEANS 2016 MTS/IEEE Monterey
dc.titleValidation of multi-body modelling methodology for reconfigurable underwater robotsnb_NO
dc.typeChapternb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.identifier.doi10.1109/OCEANS.2016.7761240
dc.identifier.cristin1414601
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.nb_NO
cristin.unitcode194,63,25,0
cristin.unitcode194,64,20,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.unitnameInstitutt for marin teknikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.fulltextoriginal
cristin.qualitycode1


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