HAL Id: lirmm-01723924 https://hal-lirmm.ccsd.cnrs.fr/lirmm-01723924 Submitted on 5 Mar 2018 HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci- entifc research documents, whether they are pub- lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la difusion de documents scientifques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Motion control architecture of a 4-fn U-CAT AUV using DOF prioritization Taavi Salumäe, Ahmed Chemori, Maarja Kruusmaa To cite this version: Taavi Salumäe, Ahmed Chemori, Maarja Kruusmaa. Motion control architecture of a 4-fn U-CAT AUV using DOF prioritization. IROS: Intelligent RObots and Systems, Oct 2016, Daejeon, South Korea. pp.1321-1327, 10.1109/IROS.2016.7759218. lirmm-01723924