An eight-thruster ROV exploits actuation redundancy to minimize thruster-induced flow disturbance on targets, reducing particle velocity by 67% and improving 3D reconstruction RMSE by 55%.
Non-uniform de- scattering and de-blurring of underwater images,
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Disturbance-aware Motion Planning for Over-actuated Underwater Vehicles Exploiting Actuation Redundancy for High-fidelity 3D Reconstruction
An eight-thruster ROV exploits actuation redundancy to minimize thruster-induced flow disturbance on targets, reducing particle velocity by 67% and improving 3D reconstruction RMSE by 55%.