Go With the Flow: Energy Minimising Periodic Trajectories for UVMS
Wilhelm J. Marais,Stefan B. Williams,Oscar Pizarro,Wilhelm J. Marais,Stefan B. Williams,Oscar Pizarro
For Underwater Vehicle Manipulator Systems (UVMS), the ability to keep a fixed end effector pose is required for intervention tasks. Maintaining a static configuration in a dynamic underwater environment requires significant amounts of energy over time, limiting the operational time for battery powered systems. In this work we consider learning the periodic components of the dynamic flow in order ...
