Browsing Publikasjoner fra CRIStin - NTNU by Subject "Underwater robotics"
Now showing items 1-4 of 4
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A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles
(Chapter, 2018)This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ... -
Deep learning based keypoint rejection system for underwater visual ego-motion estimation
(Peer reviewed; Journal article, 2020)Most visual odometry (VO) and visual simultaneous localization and mapping (VSLAM) systems rely heavily on robust keypoint detection and matching. With regards to images taken in the underwater environment, phenomena like ... -
Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy
(Journal article; Peer reviewed, 2016)This paper analyzes an integral line-of-sight guidance law applied to an underac-tuated underwater vehicle. The vehicle is rigorously modeled in 5 degrees of freedom usingphysical principles, and it is ... -
ROV-Based Autonomous Maneuvering for Ship Hull Inspection with Coverage Monitoring
(Journal article; Peer reviewed, 2024)Hull inspection is an important task to ensure sustainability of ships. To overcome the challenges of hull structure inspection in an underwater environment in an efficient way, an autonomous system for hull inspection has ...