2 papers
cs.RO2025
Efficient Control Allocation and 3D Trajectory Tracking of a Highly Manoeuvrable Under-actuated Bio-inspired AUV
Walid Remmas, Christian Meurer, Yuya Hamamatsu +2
Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller…
cs.RO2025
Cross-platform Learning-based Fault Tolerant Surfacing Controller for Underwater Robots
Yuya Hamamatsu, Walid Remmas, Jaan Rebane +2
In this paper, we propose a novel cross-platform fault-tolerant surfacing controller for underwater robots, based on reinforcement learning (RL). Unlike conventional approaches, wh…