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This document summarizes a research paper that proposes using multiple cooperative autonomous underwater vehicles (AUVs) to transport large objects. Specifically, it presents a decentralized control algorithm adapted for limited underwater communication to have two 8 degree-of-freedom AUVs cooperatively transport a long pipe. The control algorithm computes desired end-effector velocities for the robots to follow a sequence of poses while considering the pipe geometry and vehicle limitations. Extensive simul

Author

Milton Alvarado

Language

EN