Abstract
This paper treats the problem of adjusting the macroscopic shape of an articulated robotic system following a path, such that the shape fits the path curve as closely as possible. We propose a way of quantifying the fit of the robot's shape to the path through the errors of the individual links, and investigate a kinematic MPC solution to the problem. The MPC generates position and velocity reference trajectories, which respect the constraints of the system, to be fed to a low-level controller. The scheme is evaluated in a kinematic level simulation study with constant irrotational ocean currents.
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