@inproceedings{Antonelli1999a,
  author = {Antonelli, Gianluca and Chiaverini, Stefano and Sarkar, Nilanjan},
  title = {Explicit force control scheme for underwater vehicle-manipulator systems},
  booktitle = {IEEE International Conference on Intelligent Robots and Systems},
  volume = {1},
  abstract = {In this paper an explicit force control scheme for Underwater Vehicle-Manipulator Systems (UVMS) is presented. Several major problems of underwater robotics are taken into account; namely, uncertainty in the model knowledge, presence of hydrodynamic effects, kinematic redundancy of the system, and poor performance of vehicle's actuating system. The possible occurrence of loss of contact due to vehicle movement during the task is also discussed. Extensive dynamic simulations prove the effectiveness of the proposed control algorithm.},
  year = {1999},
}

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