DOCTORAL THESIS: Advanced Underwater Vehicle Manipulation through Real-Time Motion Planning
By Dina Nagui Youakim Isaac Supervised by Dr. Pere Ridao Abstract A key challenge in autonomous mobile manipulation is the ability to determine in real-time how to safely execute complex tasks when placed in an unknown world. Motion Planning has been widely used in terrestrial and aerial robots to cope with such challenges, while it stayed unexplored for underwater intervention. In the last few years, Intervention Autonomous Underwater Vehicles…