Unsupervised Online System Identification for Underwater Robotic Vehicles

This paper presents an unsupervised strategy for online system identification of underwater robotic vehicles. The proposed method consists of four operating modules, namely the state estimation module, the collision avoidance module, the excitation module, and the parameter estimation module, that collaborate online in a closed-loop architecture. The excitation inputs are formulated online, based on the convergence achieved for each actuated...