Preprint Open access
MOSAIC-SV: Real-Time Adaptive Identification of Vessel Dynamics for the Control and Deployment of Aquatic Robots
Model-based control of an aquatic robotic platform depends on a hydrodynamic model that is costly to identify and specific to the hull, payload, and conditions it was measured in. Here, we present MOSAIC-SV, a deployable real-time adaptive dynamics identification and control system that identifies a control-sufficient …