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Vision based station keeping and docking for floating vehicles
2001
2001 European Control Conference (ECC)
unpublished
This paper describes a method for station keeping and docking of floating vehicles. We consider the case of a lighter-than-air blimp and that of an underwater robot. Due to the motion disturbances in the environment (currents), these tasks are important to keep the vehicle stabilized relative to an external reference frame. The main difficulties to achieve station keeping and docking are related to the non-holonomic constraints of the floating vehicles moving in 3D, having a limited number of
doi:10.23919/ecc.2001.7076375
fatcat:zk5zfcwxcvehhge5at2g4q7dcq