From Aerobatics to Hydrobatics: Agile Trajectory Planning and Tracking for Micro Underwater Robots

Daniel A Duecker,Christian Horst,Edwin Kreuzer,Daniel A Duecker,Christian Horst,Edwin Kreuzer

Aerobatic quadrotors have been a very active field of research for the last two decades. Their huge community boosted the development of computational light-weight planning and control algorithms. In contrast and despite recent progress, research on agile micro autonomous underwater vehicles (µAUV) is still in its infancy. Both vehicle classes share a close relationship. They achieve high speeds o...