This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit communication arising from the physical interaction of the robots with the commonly grasped object. We propose a novel distributed leader-follower architecture, where the leading UVMS, which has knowledge of the object's desired trajectory, tries to achieve the desired tracking behavior via an impedance control law, navigating in this way, the overall formation towards the goal configuration while avoiding collisions with the obstacles. On the other hand, the following UVMSs estimate the object's desired trajectory via a novel prescribed performance estimation law and implement a similar impedance control law. The feedback relies on each UVMS's force/torque measurements and no explicit data is exchanged online among the robots. Moreover, the control scheme adopts load sharing among the UVMSs according to their specific payload capabilities. Finally, various simulation studies clarify the proposed method and verify its efficiency.
TritonZ: A Remotely Operated Underwater Rover with Manipulator Arm for Exploration and Rescue Operations
Department of Computer Science and Engineering, United International University（计算机科学与工程系，国际联合大学）；Department of Computer Science and Engineering, BRAC University（计算机科学与工程系，BRAC大学）
A Switching Nonlinear Model Predictive Control Strategy for Safe Collision Handling by an Underwater Vehicle-Manipulator System
D. Guggenheim School of Aerospace Engineering, Georgia Institute of Technology（德·古根海姆航空航天工程学院，佐治亚理工学院）；faculty of Electrical Engineering, Engineering Division, New York University Abu Dhabi（电气工程系，工程分校，纽约大学阿布扎克分校）
Autonomous Underwater Vehicle-Manipulator Systems Path Planning with RRTAUVMS Algorithm
Zhejiang University（浙江大学）；Shenzhen Sensetime Technology CO.,LTD（深圳商汤科技有限公司）；Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）
Closed-Loop Control and Disturbance Mitigation of an Underwater Multi-Segment Continuum Manipulator
National Robotarium（国家机器人研究院）；Heriot Watt University（赫瑞瓦特大学）；Institute for Integrated Micro and Nano Systems（集成微纳系统研究所）；University of Edinburgh（爱丁堡大学）；Senai Cimatec（塞奈伊·西马泰克）；CREATE Lab（CREATE实验室）；EPFL（洛桑联邦理工学院）
ICM-CSIC（西班牙加泰罗尼亚海洋科学研究所）；Khalifa University（哈利法大学）；Universitat Politècnica de Catalunya（加泰罗尼亚理工大学）；KTH Royal Institute of Technology（皇家理工学院）；Scuola Superiore Sant’Anna（圣安娜高等学院）
Towards Automated Sample Collection and Return in Extreme Underwater Environments
University of Michigan（密歇根大学）；Toyota Technological Institute at Chicago（芝加哥丰田技术研究所）；University of Sydney（悉尼大学）；Woods Hole Oceanographic Institution（伍兹霍尔海洋研究所）
HyDRA Scorpion: A Cost-effective and Modular ROV for Real-Time Underwater Inspection, Intervention, and Object Detection
Department of Computer Science and Engineering（计算机科学与工程系）；United International University（国际联合大学）；Department of Electrical and Electronic Engineering（电气与电子工程系）
The Port-Hamiltonian Structure of Vehicle Manipulator Systems
Control and Instrumentation Engineering department and Interdisciplinary Research Center for Smart Mobility and Logistics, King Fahd University of Petroleum and Minerals（控制与仪器工程系和智能交通与物流跨学科研究中心，国王法赫德石油与矿物大学）；Instrumentation Engineering department（仪器工程系）；Interdisciplinary Research Center for Smart Mobility（智能交通跨学科研究中心）；Logistics, King Fahd University of Petroleum（物流，国王法赫德石油大学）
