Manipulation of Large Objects by Swarms of Autonomous Marine Vehicles. Part 1 - Rotation.

摘要

In this paper, the control problem of utilizing a team of autonomous marine vehicles (i.e., tug boats) cooperating to manipulate a larger floating object (i.e. disabled ship) while operating in a decentralized architecture is considered. After decomposing the problem into several phases, a control design targeting the issue of inducing controlled rotations for the manipulated object is presented.