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This work proposes a communication-free framework for vision-based formation control of fully actuated underwater robots subject to sensing constraints, collision-avoidance requirements, and input saturations through a quadratic program that explicitly accounts for actuator limits.
RELIABLE QoS can boost robotic navigation performance by over 51% compared to BEST-EFFORT, revealing critical insights for real-world applications.
A new modular underwater research facility, the Marinarium, offers a resource-efficient way to conduct realistic maritime and space-analog robotic experiments, bridging the gap between simulation and real-world conditions.