Paper Info
Title
A computational framework for simulation of Underwater Robotic Vehicle systems
Abstract
This paper presents a computational framework for efficiently simulating the dynamics and hydrodynamics of Underwater Robotic Vehicle (URV) systems. Through the use of object-oriented mechanisms, a very general yet efficient version of the Articulated-Body (AB) algorithm has been implemented. An efficient solution to branching within chains is developed in the paper so that the algorithm can be used to compute the dynamics for the entire class of open-chain, tree-structured mechanisms. By...
Year
DOI
Venue
1996
10.1007/BF00141158
Auton. Robots
Keywords
DocType
Volume
underwater robotics,hydrodynamics,simulation,articulated mechanisms,tree topologies,object-oriented design
Journal
3
Issue
ISSN
Citations 
2-3
0929-5593
4
PageRank 
References 
Authors
0.75
14
3
Name
Order
Citations
PageRank
Scott Mcmillan19315.01
David E. Orin245452.19
Robert B. Mcghee3781370.62