Dynamic End Effector Trajectory Tracking for Small-Scale Underwater Vehicle-Manipulator Systems (UVMS): Modeling, Control, and Experimental Validation

Authors: Niklas Trekel, Nathalie Bauschmann, Thies L. Alff, Daniel A Duecker, Sami Haddadin, Robert Seifried

Published in: IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025

DOI: 10.1109/ICRA55743.2025.11128667

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@inproceedings{DBLP:conf/icra/TrekelBADHS25,
  author       = {Niklas Trekel and
                  Nathalie Bauschmann and
                  Thies L. Alff and
                  Daniel A Duecker and
                  Sami Haddadin and
                  Robert Seifried},
  title        = {Dynamic End Effector Trajectory Tracking for Small-Scale Underwater
                  Vehicle-Manipulator Systems {(UVMS):} Modeling, Control, and Experimental
                  Validation},
  booktitle    = {{IEEE} International Conference on Robotics and Automation, {ICRA}
                  2025, Atlanta, GA, USA, May 19-23, 2025},
  pages        = {4145--4151},
  publisher    = {{IEEE}},
  year         = {2025},
  url          = {https://doi.org/10.1109/ICRA55743.2025.11128667},
  doi          = {10.1109/ICRA55743.2025.11128667},
  timestamp    = {Wed, 01 Oct 2025 01:00:00 +0200},
  biburl       = {https://dblp.org/rec/conf/icra/TrekelBADHS25.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}