Validation of multi-body modelling methodology for reconfigurable underwater robots

M.C. Nielsen, O. A. Eidsvik, Mogens Blanke, I. Schjølberg

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    This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules. The purpose of the model is to enable design of control strategies for cooperative reconfigurable underwater systems.
    Original languageEnglish
    Title of host publicationProceedings of OCEANS 2016 MTS/IEEE Monterey
    Number of pages8
    Publication date2016
    ISBN (Print)978-1-5090-1537-5
    Publication statusPublished - 2016
    Event2016 MTS/IEEE OCEANS'16 - Monterey, United States
    Duration: 19 Sept 201623 Sept 2016


    Conference2016 MTS/IEEE OCEANS'16
    Country/TerritoryUnited States
    Internet address


    • Mathematical model
    • Robots
    • Vehicle dynamics
    • Force
    • Hydrodynamics
    • Kinematics


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