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cs.RO2025
Combining Moving Mass Actuators and Manoeuvring Models for Underwater Vehicles: A Lagrangian Approach
Alexander B. Rambech, Ivar B. Saksvik, Vahid Hassani
In this paper, we present a Newton-Euler formulation of the equations of motion for underwater vehicles with an interntal moving mass actuator. Furthermore, the moving mass dynamic…
cs.RO2021
A Deep Learning Approach To Dead-Reckoning Navigation For Autonomous Underwater Vehicles With Limited Sensor Payloads
Ivar Bjørgo Saksvik, Alex Alcocer, Vahid Hassani
This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relat…