© 2018

Underwater Robots

  • Up-to-date and top class research in underwater robotics by a leading expert in the field, now in its 4th substantially improved edition

  • Represents the state of the art in dynamic robotic dynamic control of underwater vehicles, offering a mathematical model with significant impact on the control strategy

  • Includes expanded theory and improved simulations and a completely new chapter on the simulation package for underwater vehicles Simurv 4.1


Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 123)

Table of contents

  1. Front Matter
    Pages i-xxx
  2. Gianluca Antonelli
    Pages 1-32
  3. Gianluca Antonelli
    Pages 33-110
  4. Gianluca Antonelli
    Pages 175-329
  5. Gianluca Antonelli
    Pages 331-346
  6. Gianluca Antonelli
    Pages 347-348
  7. Back Matter
    Pages 349-350

About this book


A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.


Robotics Underwater Robotics Underwater Robots UVM Simurv 4.1 Control of underwater vehicles Underwater manipulation Underwater vehicle simulation

Authors and affiliations

  1. 1.Dipartimento di Ingegneria Elettrica e dell’InformazioneUniversità di Cassino e Lazio MeridionaleCassinoItaly

Bibliographic information

  • Book Title Underwater Robots
  • Authors Gianluca Antonelli
  • Series Title Springer Tracts in Advanced Robotics
  • Series Abbreviated Title Spr.Tracts in Adv.Robotics
  • DOI
  • Copyright Information Springer International Publishing AG, part of Springer Nature 2018
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-319-77898-3
  • Softcover ISBN 978-3-030-08568-1
  • eBook ISBN 978-3-319-77899-0
  • Series ISSN 1610-7438
  • Series E-ISSN 1610-742X
  • Edition Number 4
  • Number of Pages XXX, 350
  • Number of Illustrations 88 b/w illustrations, 129 illustrations in colour
  • Topics Robotics and Automation
    Artificial Intelligence
  • Buy this book on publisher's site
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