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Dynamics and Control of Underwater Gliders I: Steady Motions
(Virginia Center for Autonomous Systems, 2007)
This paper describes analysis of steady motions for underwater gliders, a type of highly efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles which locomote by ...
Dynamics & Control of Underwater Gliders II: Motion Planning and Control
(Virginia Center for Autonomous Systems, 2010)
This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance and control. In previous work, the authors derived an approximate ...