A survey provides a taxonomy of decoupled and coupled sensor-based planning and control architectures for UUVs and compares PID, MPC, and invariant-set controllers for underwater autonomy.
Autonomous nav- igation of mobile robots: A hierarchical planning–control framework with integrated DW A and MPC,
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A Survey on Sensor-based Planning and Control for Unmanned Underwater Vehicles
A survey provides a taxonomy of decoupled and coupled sensor-based planning and control architectures for UUVs and compares PID, MPC, and invariant-set controllers for underwater autonomy.