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EnglishAbstract: In this work, the control framework of the DexROV Horizon 2020 project is presented. The framework is based on the task priority concept, extended by the authors to allow the activation and deactivation of tasks. The general concepts of control objectives, task and actions are given. The execution of a pipeline's weld inspection is used as study case to test the proposed framework in a simulation setting.
| Titolo: | DexROV project: Control Framework for Underwater Interaction Tasks |
| Autori: | |
| Data di pubblicazione: | 2017 |
| Abstract: | Abstract: In this work, the control framework of the DexROV Horizon 2020 project is presented. The framework is based on the task priority concept, extended by the authors to allow the activation and deactivation of tasks. The general concepts of control objectives, task and actions are given. The execution of a pipeline's weld inspection is used as study case to test the proposed framework in a simulation setting. |
| Handle: | http://hdl.handle.net/11567/883090 |
| Appare nelle tipologie: | 04.01 - Contributo in atti di convegno |
File in questo prodotto:
| File | Descrizione | Tipologia | |
|---|---|---|---|
| OA_2017_06_OCEANS_DexROV project Control Framework for Underwater Interaction Tasks.pdf | Documento in Post-print | Open Access Visualizza/Apri |
Utilizza questo identificativo per citare o creare un link a questo documento:
http://hdl.handle.net/11567/883090
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