Underwater Vehicle Manipulator System

Underwater vehicle manipulator systems (UVMSs) are robotic systems combining underwater vehicles with robotic arms to perform complex tasks in challenging aquatic environments. Current research emphasizes improving control algorithms, particularly for bimanual systems and those incorporating continuum manipulators, often leveraging advanced kinematic models and optimization techniques to enhance dexterity and precision. This work also focuses on robust pose estimation using computer vision and integrating diverse sensor data to enable autonomous or semi-autonomous operation in unstructured environments, improving the efficiency and safety of underwater interventions. These advancements are crucial for applications ranging from deep-sea exploration and sample collection to subsea infrastructure maintenance and repair.