arxivcs.RO2026-07-08
Disturbance-aware Motion Planning for Over-actuated Underwater Vehicles Exploiting Actuation Redundancy for High-fidelity 3D Reconstruction
Yuer Gao, Tongqing Xu, Qingyang Liu, Yi Cai
Underwater robots often operate near delicate targets where high-power thrusters resuspend sediments and induce turbulence, degrading image quality at the sensor input. Conventional controllers optimize vehicle-centric objectives, such as tracking and stability, without accountin…