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.

DexROV project: Control Framework for Underwater Interaction Tasks

Simetti, E.;Wanderlingh, F.;Casalino, G.;Indiveri, G.;
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.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11567/883090
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