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These two helicopters are equiped with an autopilot that allow us to send it high-level control commands and simplifies the control task. In this step, the real movement of a ship on the sea is simulated. This movement, depends on the Sea State, the wave direction and of course, the ship. Once we have the offline simulated movement of the ship, it has to be implemented in the motion platform calculating the Inverse Kinematics and avoiding the singular configurations. This step consist on measure the pose position and orientation of the UAV, respect to the pose to the ship deck. Our first proposal is use a computer vision system made up for a single Point Gray, Inc camera.
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