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dc.contributor.authorCaccia, M.
dc.contributor.authorCasalino, G.
dc.contributor.authorCristi, R.
dc.contributor.authorVeruggio, G.
dc.date.accessioned2018-01-11T15:42:32Z
dc.date.available2018-01-11T15:42:32Z
dc.date.issued1998
dc.identifier.citationM. Caccia, G. Casalino. R. Cristi, G. Veruggio, "Acoustic motion estimation and control for an unmanned underwater vehicle in a structured environment," Control Engineering Practice, v. 6, (1998) pp. 661-670.en_US
dc.identifier.urihttp://hdl.handle.net/10945/56643
dc.description.abstractThe problem of identification and navigation, guidance and control in unmanned underwater vehicles (UUVs) is addressed in this paper. A task-function-based guidance system and an acoustic motion estimation module have been integrated with a conventional UUV autopilot within a two-layered hierarchical architecture for closed-loop control. Basic techniques to estimate the robot dynamics using the sensors mounted on the vehicle have been investigated. The proposed identification techniques and navigation, guidance and control (NGC) system have been tested on Roby2, a UUV developed at the Istituto Automazione Navale of the Italian C.N.R. The experimental set-up, as well as the modalities and results, are discussed.en_US
dc.description.sponsorshipProgramma Nazionale di Recerche in Antartide (PNRA)en_US
dc.format.extent10 p.en_US
dc.publisherPergamonen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titleAcoustic motion estimation and control for an unmanned underwater vehicle in a structured environmenten_US
dc.typeArticleen_US
dc.contributor.corporateNaval Postgraduate School (U.S.)en_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
dc.subject.authorUnderwater vehiclesen_US
dc.subject.authorNavigationen_US
dc.subject.authorGuidance and control systemsen_US
dc.subject.authorMotion-control systemsen_US
dc.subject.authorExtended Kalman filteren_US
dc.subject.authorIdentificationen_US
dc.subject.authorAcousticsen_US


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