This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC) approach for a team of UVMSs in order to transport an object while avoiding significant constraints and limitations such as: kinematic and representation singularities, obstacles within the workspace, joint limits and control input saturations. More precisely, by exploiting the coupled dynamics between the robots and the object, and using certain load sharing coefficients, we design a distributed NMPC for each UVMS in order to cooperatively transport the object within the workspace's feasible region. Moreover, the control scheme adopts load sharing among the UVMSs according to their specific payload capabilities. Additionally, the feedback relies on each UVMS's locally measurements and no explicit data is exchanged online among the robots, thus reducing the required communication bandwidth. Finally, real-time simulation results conducted in UwSim dynamic simulator running in ROS environment verify the efficiency of the theoretical finding.
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）
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）
Motion Planning of Cooperative Nonholonomic Mobile Manipulators
Department of Mechanical Engineering, Indian Institute of Technology Bombay（印度理工学院班加罗尔机械工程系）；Center for Systems and Control, Indian Institute of Technology Bombay（印度理工学院班加罗尔系统控制中心）
Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems
IIIT Hyderabad（国际信息技术研究所海得拉巴分校）；University of Genoa（热那亚大学）；University of Tübingen（图宾根大学）；Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；IIT Jodhpur（焦特布尔印度理工学院）
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）
USV-AUV Collaboration Framework for Underwater Tasks under Extreme Sea Conditions
Tsinghua University（清华大学）；Tsinghua Shenzhen International Graduate School（清华大学深圳国际研究生院）；Zhejiang University（浙江大学）；College of Information Science & Electronic Engineering（信息科学与电子工程学院）；New Jersey Institute of Technology（新泽西理工学院）
Never too Cocky to Cooperate: An FIM and RL-based USV-AUV Collaborative System for Underwater Tasks in Extreme Sea Conditions
Tsinghua Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院，清华大学）；Department of Data and Systems Engineering, The University of Hong Kong（数据与系统工程系，香港大学）；School of Engineering Science, University of Chinese Academy of Sciences（工程科学学院，中国科学院大学）；Department of Data Science, New Jersey Institute of Technology（数据科学系，新泽西理工学院）
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）
Cooperative Adaptive Control for Cloud-Based Robotics
Dept. Aerospace and Mech. Engineering, University of Notre Dame（美国圣母大学航空航天与机械工程系）；Dept. of Mech. Engineering, Massachusetts Institute of Technology（麻省理工学院机械工程系）
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）
Safe Obstacle-Free Guidance of Space Manipulators in Debris Removal Missions via Deep Reinforcement Learning
Embodied Learning and Intelligence for eXploration and Innovative soft Robotics (ELIXIR) Lab, Toronto Metropolitan University, Toronto, ON, Canada（体现学习与智能探索与创新软机器人（ELIXIR）实验室，多伦多 Metropolitan 大学，多伦多，ON，加拿大）
Task Capability Improvement Algorithm for Collaborative Manipulators
Department of Mechanical Engineering, Indian Institute of Technology Bombay（印度理工学院班加罗尔机械工程系）；Center for Systems and Control, Indian Institute of Technology Bombay（印度理工学院班加罗尔系统与控制中心）
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）
