Underwater Robots

  • Gianluca Antonelli

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 96)

Table of contents

  1. Front Matter
    Pages i-xxvii
  2. Gianluca Antonelli
    Pages 1-21
  3. Gianluca Antonelli
    Pages 23-63
  4. Gianluca Antonelli
    Pages 65-100
  5. Gianluca Antonelli
    Pages 117-126
  6. Gianluca Antonelli
    Pages 127-167
  7. Gianluca Antonelli
    Pages 169-231
  8. Gianluca Antonelli
    Pages 233-255
  9. Gianluca Antonelli
    Pages 257-265
  10. Gianluca Antonelli
    Pages 267-268
  11. Back Matter
    Pages 269-279

About this book


This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.



Robotics Underwater Robotics Underwater Robots

Authors and affiliations

  • Gianluca Antonelli
    • 1
  1. 1.Dipartimento di Ingegneria Elettrica e dell’InformazioneUniversità di Cassino e Lazio MeridionaleCassinoItaly

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2014
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-02876-7
  • Online ISBN 978-3-319-02877-4
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site