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Ji-Hong Li, Hyungjoo Kang, Min-Gyu Kim, Mun-Jik Lee, Gun Rae Cho and Han-Sol Jin
In this paper, we present a 3D formation control scheme for a group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct a sort of star-topology acoustic communi...
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Ji-Hong Li, Mun-Jik Lee, Hyungjoo Kang, Min-Gyu Kim and Gun Rae Cho
ROV trencher is a kind of ROV which trenches the sea floor using a specifically designed tool and buries the subsea cables and pipelines. According to the soil conditions, this trenching method can have two different types, one is mechanical cutting and ...
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Gun Rae Cho, Geonhui Ki, Mun-Jik Lee, Hyungjoo Kang, Min-Gyu Kim and Ji-Hong Li
In underwater environments restricted from human access, many intervention tasks are performed by using robotic systems like underwater manipulators. Commonly, the robotic systems are tele-operated from operating ships; the operation is apt to be ineffic...
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Ji-Hong Li, Min-Gyu Kim, Hyungjoo Kang, Mun-Jik Lee and Gun Rae Cho
This paper presents the development of an unmanned underwater vehicle (UUV) platform, especially the derivation of the vehicle?s simulation model and its control method to overcome strong sea current. The platform is designed to have a flattened ellipsoi...
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