Friday 17 November 2017







Gianluca Antonelli, ''Underwater Robots''

Comments (0)

Published at 16:21 of the day 11/12/2010

"Underwater Robots", Springer Tracts in Advanced Robotics, Vol. 96

ISBN 978-3-319-02876-7 (Springer Tracts in Advanced Robotics, 2003, 2nd edition 2006, 3rd edition 2014)

Ordering Info: Springer Shop


Code Chapter 3

Comments (0)

Published at 12:44 of the day 19/07/2013

Code to run the simulations of the third Chapter of the third Edition.

Refer to the included readme.txt file for details.

Book Reviews

Comments (0)

Published at 16:35 of the day 11/12/2010

(second edition) Alexander Leonessa, IEEE Control Systems Magazine, Vol. 28 No. 5, pp. 138-139, October 2008

 (first edition) Sean Andersson, Automatica, Vol. 42 No. 7, pp. 363-364, 2006

 (first edition) Giuseppe Conte, International Journal of Adaptive Control and Signal Processing (IJACSP), Vol. 148 No. 7, pp. 603-604, September 2004


Preface to the third edition

Comments (0)

Published at 15:45 of the day 11/01/2014

Whenever possible I attend the IEEE ICRA (International Conference on Robotics and Automation) conference where I usually meet Thomas, a Springer Senior Editor, that updates me on the sellings of this monograph. Despite the very niche topic, underwater manipulation, sellings are still interesting so that a third edition is worth.

Ten years after the first edition I decided to work on this project by reconsidering some of the material. First of all I have withdrawn one Chapter, the one devoted to multi vehicles coordination, since it was somehow orthogonal to the remaining part of the book. It dealt with underwater and control but was not specific to manipulation. It was also too short to cover in a decent way all the challenges of this control problem.

I have obviously updated most references, mainly adding then deleting existing ones, and clarified some of the modeling parts based on the feedback from the readers. Some details on the way the Jacobians are computed, as well as all the Jacobians used in the kinematic control Chapter, have been streamlined and explicitely reported.

The first edition of this monograph was based on my PhD work, done during the 1997-1999, and most of the material was of {\it research\/} kind. As a matter of fact, at the time of publication some of the journal papers were still in their reviewing process. After ten years, it is interesting to notice how part of the material lost his innovative halo to acquire an educational one. For this reason Chapters containing experiments physically performed in the end of last century have been kept. On this trail is also the decision to give the simulation tool and write a small reference Chapter to it together with the dynamic parameters of several models used in the testing of the algorithms.

For the online version, color and hyper references have been included too. The reader will not find in this monograph any details on the sensorial or communication systems, moreover, if He is interested in vehicle control alone, i.e., without manipulator, I would suggest one of the Fossen's books.

Preface to the second edition

Comments (0)

Published at 16:36 of the day 11/12/2010

The purpose of this Second Edition is to add material not covered in the First Edition as well as streamline and improve the previous material. The organization of the book has been substantially modified, an introductory Chapter containing the state of the art has been considered; the modeling Chapter is substantially unmodified. In Chapter 3 the problem of controlling a 6-Degrees-Of-Freedoms (DOFs) Autonomous Underwater Vehicle (AUV) is investigated. Chapter 4 is a new Chapter devoted at a survey of fault detection/tolerant strategies for ROVs/AUVs, it is mainly based on the Chapter published in [1]. The following Chapter (Chapter 5) reports experimental results obtained with the vehicle ODIN. The following 3 Chapters, from Chapter 6 to Chapter 8 are devoted at presenting kinematic, dynamic and interaction control strategies for Underwater Vehicle Manipulator Systems (UVMSs); new material has been added thanks also to several colleagues who provided me with valuable material, I warmly thank all of them. The content of Chapter 9 is new in this Second Edition and reports preliminary results on the emerging topic of coordinated control of platoon of AUVs. Finally, the bibliography has been updated. The reader might be interested in knowing what she/he will not find in this book. Since the core of the book is the coordinated control of manipulators mounted on underwater vehicles, control of non-holonomic vehicles is not dealt with; this is an important topic also in view of the large number of existing torpedo-like vehicles. Another important aspect concerns the sensorial apparatus, both from the technological point of view and from the algorithmic aspect; most of the AUVs are equipped with redundant sensorial systems required both for localization/navigation purposes and for fault detection/tolerant capabilities. Actuation is mainly obtained by means of thrusters; those are still object of research for the modeling characteristics and might be the object of improvement in terms of dynamic response.


[1] Gianluca Antonelli, ''A survey of fault detection/tolerance strategies for AUVs and ROVs'' in ''Fault diagnosis and tolerance for mechatronic systems. Recent advances'', F. Caccavale, L. Villani, (Eds.), Springer Tracts in Advanced Robotics, Springer-Verlag, Heidelberg, D, pp. 109--127, 2002