3 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…
cs.RO2025
Underwater Soft Fin Flapping Motion with Deep Neural Network Based Surrogate Model
Yuya Hamamatsu, Pavlo Kupyn, Roza Gkliva +2
This study presents a novel framework for precise force control of fin-actuated underwater robots by integrating a deep neural network (DNN)-based surrogate model with reinforcemen…