{"ID":6138146,"CreatedAt":"2026-07-09T01:07:32.349475501Z","UpdatedAt":"2026-07-11T08:29:44.454854982Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.07139","arxiv_id":"2607.07139","title":"Disturbance-aware Motion Planning for Over-actuated Underwater Vehicles Exploiting Actuation Redundancy for High-fidelity 3D Reconstruction","abstract":"Underwater robots often operate near delicate targets where high-power thrusters resuspend sediments and induce turbulence, degrading image quality at the sensor input. Conventional controllers optimize vehicle-centric objectives, such as tracking and stability, without accounting for the impact of actuation on sensing. We address this actuation-to-perception coupling by exploiting redundancy in over-actuated platforms. For an eight-thruster ROV, multiple thrust allocations can yield the same motion; we search this null space to minimize predicted disturbance in a task-relevant target region while enforcing motion constraints. Our method uses a control-oriented thruster-wake proxy derived from actuator-disk theory with directional attenuation and validated by PIV ($R^2 = 0.99$ near the wake axis; $R^2 \u003e 0.82$ in the primary wake region), together with a real-time redundancy-resolving allocator running at 10 Hz (45 ms/solve). Across 440 trials, the approach reduces target-region particle velocity by 67% ($p \u003c 0.001$), improves 3D reconstruction RMSE by 55% versus a disturbance-unaware baseline ($1.9 \\pm 0.4$ mm vs. $4.3 \\pm 1.8$ mm), and achieves a 98.5% reconstruction success rate. The framework supports autonomous scanning, which is quantitatively evaluated, and operator-assisted inspection, which is demonstrated in the supplementary materials.","short_abstract":"Underwater robots often operate near delicate targets where high-power thrusters resuspend sediments and induce turbulence, degrading image quality at the sensor input. Conventional controllers optimize vehicle-centric objectives, such as tracking and stability, without accounting for the impact of actuation on sensing...","url_abs":"https://arxiv.org/abs/2607.07139","url_pdf":"https://arxiv.org/pdf/2607.07139v1","authors":"[\"Yuer Gao\",\"Tongqing Xu\",\"Qingyang Liu\",\"Yi Cai\"]","published":"2026-07-08T08:32:15Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}