Control of Underactuated AUVs for Survey and Pipe-Inspection Purposes: Path-following and Target Tracking for Underactuated AUVs
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1. Look at different control schemes for underactuated AUVs used for surveying and in particular pipe-inspection.2. Verify the results by simulation.3. If performance is poor as a result of environmental disturbances look into learning methods to compensate for these disturbances.