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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 ...
A snake robot joint mechanism with a contact force measurement system
(Journal article; Peer reviewed, 2009)
A snake robot can traverse cluttered and irregular environments by using irregularities around its body as pushpoints to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ...
Vehicle Guidance with Control Action Computed by a Rao-Blackwellized Particle Filter
Particle filters can be used in navigation and state estimation problems. They can approximate arbitrary posterior distributions and do not require assumptions of Gaussianity or linearizations. This paper suggests to use ...