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Towards Precision Robotic Maneuvering, Survey, and Manipulation in Unstructured Undersea Environments

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Robotics Research

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Abstract

This paper reports recent advances in the precision control of underwater robotic vehicles for survey and manipulation missions. A new underwater vehicle navigation and control system employing a new commercially available 1,200 kHz doppler sonar is reported. Comparative experimental trials compare the performance of the new system to conventional 12 kHz and 300 kHz long baseline (LBL) acoustic navigation systems. The results demonstrate a hybrid system incorporating both doppler and LBL to provide superior tracking in comparison to doppler or LBL alone.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Johns Hopkins University, 123 Latrobe Hall, 3400 North Charles Street, Baltimore, Maryland, 21218, USA

    Louis Whitcomb

  2. Deep Submergence Laboratory, Department of Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Woods Hole, MA, 02543, USA

    Dana Yoerger & Hanumant Singh

  3. MIT Program in Science, Technology, and Society, E51-194A, 77 Massachusetts Avenue, Cambridge, MA, 02139, USA

    David Mindell

Authors
  1. Louis Whitcomb
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  2. Dana Yoerger
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  3. Hanumant Singh
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  4. David Mindell
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Editor information

Editors and Affiliations

  1. Department of Compter-Controlled Machine Systems, Faculty of Engineering, Osaka University 2-1, Yamadaoka, Suita, 565, Japan

    Yoshiaki Shirai

  2. Mechano-Aerospace, Faculty of Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152, Japan

    Shigeo Hirose

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© 1998 Springer-Verlag London Limited

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Whitcomb, L., Yoerger, D., Singh, H., Mindell, D. (1998). Towards Precision Robotic Maneuvering, Survey, and Manipulation in Unstructured Undersea Environments. In: Shirai, Y., Hirose, S. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-1580-9_5

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  • DOI: https://doi.org/10.1007/978-1-4471-1580-9_5

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1582-3

  • Online ISBN: 978-1-4471-1580-9

  • eBook Packages: Springer Book Archive

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