Manipulation of Large Object by Swarms of Autonomous Marine Vehicles, Part I: Rotational Motions
Matthew G. Feemster, J.M. Esposito, J. Nicholson · 2006
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