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MVP - Low Level Controller

This repository contains low-level controller for marine vehicles.

Overview

mvp_control is the low level vehicle controller of the MVP framework. It uses control allocation matrix with quadratic programming optimization. It highly relies on ROS and ROS transform tree.

diagram

Documentation

The documentation for mvp_control package is is at https://uri-ocean-robotics.github.io/mvp_control.

Citation

If you find this software useful in your research, please cite:

@INPROCEEDINGS{9977346,
  author={Gezer, Emir Cem and Zhou, Mingxi and Zhao, Lin and McConnell, William},
  booktitle={OCEANS 2022, Hampton Roads},
  title={Working toward the development of a generic marine vehicle framework: ROS-MVP},
  year={2022},
  volume={},
  number={},
  pages={1-5},
  doi={10.1109/OCEANS47191.2022.9977346}}

Funding

This work is supported by the National Science Foundation award #2154901