{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,29]],"date-time":"2026-05-29T12:21:36Z","timestamp":1780057296577,"version":"3.54.0"},"reference-count":23,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2023,6,8]],"date-time":"2023-06-08T00:00:00Z","timestamp":1686182400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"LabEx NUMEV","award":["ANR-10-LABX-0020"],"award-info":[{"award-number":["ANR-10-LABX-0020"]}]},{"name":"LabEx NUMEV","award":["ANR-16-IDEX-0006"],"award-info":[{"award-number":["ANR-16-IDEX-0006"]}]},{"name":"I-SITE MUSE","award":["ANR-10-LABX-0020"],"award-info":[{"award-number":["ANR-10-LABX-0020"]}]},{"name":"I-SITE MUSE","award":["ANR-16-IDEX-0006"],"award-info":[{"award-number":["ANR-16-IDEX-0006"]}]},{"name":"Region Occitanie","award":["ANR-10-LABX-0020"],"award-info":[{"award-number":["ANR-10-LABX-0020"]}]},{"name":"Region Occitanie","award":["ANR-16-IDEX-0006"],"award-info":[{"award-number":["ANR-16-IDEX-0006"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>A dynamically reconfigurable underwater robot, which can vary its configuration during a mission, would be useful for confined environment exploration and docking because of its versatility. A mission can be performed by choosing among different configurations, and the energy cost may increase, owing to the reconfigurability of the robot. Energy saving is the critical issue in long-range missions with underwater robots. Moreover, control allocation must be considered for a redundant system and input constraints. We propose an approach for an energy-efficient configuration and control allocation for a dynamically reconfigurable underwater robot that is built for karst exploration. The proposed method is based on sequential quadratic programming, which minimizes an energy-like criterion with respect to robotic constraints, i.e., mechanical limitations, actuator saturations, and a dead zone. The optimization problem is solved in each sampling instant. Two popular tasks for underwater robots, i.e., path-following and station-keeping (observation) problems, are simulated, and the simulation results show the efficiency of the method. Moreover, an experiment is carried out to highlight the results.<\/jats:p>","DOI":"10.3390\/s23125439","type":"journal-article","created":{"date-parts":[[2023,6,9]],"date-time":"2023-06-09T02:03:18Z","timestamp":1686276198000},"page":"5439","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Energy-Efficient Configuration and Control Allocation for a Dynamically Reconfigurable Underwater Robot"],"prefix":"10.3390","volume":"23","author":[{"given":"Tho","family":"Dang","sequence":"first","affiliation":[{"name":"Laboratory of Informatics, Robotics and MicroElectronics (LIRMM) (UMR 5506 CNRS\u2014UM), Universit\u00e9 Montpellier, 161 rue Ada, CEDEX 5, 34392 Montpellier, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4320-2118","authenticated-orcid":false,"given":"Lionel","family":"Lapierre","sequence":"additional","affiliation":[{"name":"Laboratory of Informatics, Robotics and MicroElectronics (LIRMM) (UMR 5506 CNRS\u2014UM), Universit\u00e9 Montpellier, 161 rue Ada, CEDEX 5, 34392 Montpellier, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rene","family":"Zapata","sequence":"additional","affiliation":[{"name":"Laboratory of Informatics, Robotics and MicroElectronics (LIRMM) (UMR 5506 CNRS\u2014UM), Universit\u00e9 Montpellier, 161 rue Ada, CEDEX 5, 34392 Montpellier, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Benoit","family":"Ropars","sequence":"additional","affiliation":[{"name":"Reeds Company, 199 rue H\u00e9l\u00e8ne Boucher, 34170 Castelnau-Le-Lez, France"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,6,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/MRA.2007.339623","article-title":"Modular self-reconfigurable robot systems [grand challenges of robotics]","volume":"14","author":"Yim","year":"2007","journal-title":"IEEE Robot. 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