Behind every success is a journey, and that journey isn’t necessarily a straight path. Instead, it can be filled with bumps, twists, and turns. Things might not go smoothly, but that’s good because it helps you learn and improve. The journey isn’t easy, but it pays off in the long run. This sums up the experience of our MTL HydroTech team from Mt. Laurel, New Jersey, which competed in the 2017 ...

This paper presents a cascaded adaptive control scheme for marine vehicles where the nonlinear equations of motion include a model of the actuator dynamics. The adaptive controller does not require the parameters of the vehicle dynamics and the actuator time constants known a priori. Both the velocity and position tracking errors are shown to converge to zero by applying Barbb alat's lemma. Fur...

In this paper, we present two Human-Robot interfaces for underwater robot teleoperation. This work is in the context of the Digital Ocean Europe project 1 that aims at digitalizing seafloor sites in 3D imagery using underwater robots (ROVs), and uses this information in order to edit interactive, virtually animated environments that are diffused online. The work presented in this paper concerns...