@inproceedings{ce5b7bbf1b6740deb285caa0060119a4,
title = "Smart ROVLATIS: Control architecture",
abstract = "This paper describes the control architecture of smart ROVLATIS. Smart ROVLATIS is a novel, multi-mode of operation marine robotics vehicle, developed at Mobile & Marine Robotics Research Centre (MMRRC), for operational flexibility in high-resolution near seabed survey from shallow inshore waters out to the continental shelf edge. The vehicle can operate in surface-tow mode, surface-thrusted mode and ROV operation mode. Special features of the system include: deployment interoperability for small inshore boats and larger research vessel; built-in auto-tuning of low-level controllers; fault tolerant thruster control in 6 DOF; onboard computer control enabling real-time disturbance reaction and topside augmented reality system support. The vehicle can be used as a target platform in various scenarios (research and scientific projects, inspections, seabed survey missions, vision experiments etc.).",
keywords = "Augmented reality, Control allocation, Fault-tolerant control, Smart ROV",
author = "Edin Omerdic and Daniel Toal and Sean Nolan and Hammad Ahmad",
year = "2010",
doi = "10.1049/ic.2010.0381",
language = "English",
isbn = "9781846000386",
series = "IET Seminar Digest",
number = "4",
pages = "787--792",
booktitle = "UKACC International Conference on CONTROL 2010",
edition = "4",
note = "UKACC International Conference on CONTROL 2010 ; Conference date: 07-09-2010 Through 10-09-2010",
}