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- W2898023692 abstract "Abstract A dynamic modelling approach is presented to compute the lumped parameter hydrodynamic coefficients of an underwater vehicle conceived as a multi-body underwater system. The vehicle-base is composed by heterogeneous robots and bodies (both actuated or not actuated), rigidly connected giving rise to a multi-body system called “cluster” in the paper. In order to model the nonlinear dynamics of the cluster, a modular approach has been proposed based on a proper composition of the dynamic models of the individual elements." @default.
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- W2898023692 date "2018-01-01" @default.
- W2898023692 modified "2023-09-26" @default.
- W2898023692 title "Preliminary results of a dynamic modelling approach for underwater multi-hull vehicles" @default.
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- W2898023692 doi "https://doi.org/10.1016/j.ifacol.2018.09.474" @default.
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