Underwater Robots

  • Gianluca Antonelli

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 123)

Table of contents

  1. Front Matter
    Pages i-xxx
  2. Gianluca Antonelli
    Pages 1-32
  3. Gianluca Antonelli
    Pages 33-110
  4. Gianluca Antonelli
    Pages 175-329
  5. Gianluca Antonelli
    Pages 331-346
  6. Gianluca Antonelli
    Pages 347-348
  7. Back Matter
    Pages 349-350

About this book


A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. 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 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 UVM Simurv 4.1 Control of underwater vehicles Underwater manipulation Underwater vehicle simulation

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 AG, part of Springer Nature 2018
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-77898-3
  • Online ISBN 978-3-319-77899-0
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
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