@inproceedings{Cataldi2018,
  author = {Cataldi, Elisabetta and Chiaverini, Stefano and Antonelli, Gianluca},
  title = {Cooperative Object Transportation by Two Underwater Vehicle-Manipulator Systems},
  booktitle = {MED 2018 - 26th Mediterranean Conference on Control and Automation},
  doi = {10.1109/MED.2018.8442760},
  abstract = {© 2018 IEEE.Intervention Autonomous Underwater Vehicle, also denoted as interaction control of Underwater Vehicle-Manipulator Systems, is a topic receiving increasing attention in the last years due to the need to decrease costs and improve safety of underwater operations. From the control perspective the problem at hand is challenging due to the hostile environmental conditions. Cooperative control of underwater vehicle-manipulator systems is addressed in this paper. An architecture is proposed which takes into account most of the underwater constraints, namely, uncertainty in the model knowledge, low sensors' bandwidth, position-only arm control, geometric-only object pose estimation. Numerical simulations provide promising results on its possible real application.},
  year = {2018},
}

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