The dataset includes a collection of motion profiles of an Unmanned Underwater vehicle moving in
an underwater environment.
We operate an underwater robot that responds to diverse inputs in various degrees of freedom (roll, yaw, z-axis), and its actions are captured through video recordings. The movement of our underwater robot forms a dynamic system, and by defining appropriate inputs and outputs, we can conduct System Identification to construct a mathematical model. The robot exhibits coupled motion, necessitating the analysis of the MIMO (multiple input multiple output) version of our system in certain scenarios.
While IMU sensors record output data, we address inaccuracies by utilizing external tools to obtain more precise output information and couple that with the control comments on terms of forces and torques.
ER -